Title :
Experimental evaluation of neural network based controllers for tracking the tip position of a flexible-link manipulator
Author :
Talebi, H.A. ; Khorasani, K. ; Patel, R.V.
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
Abstract :
This paper presents neural network based adaptive controllers for a single flexible-link manipulator. The control is designed by using the output re-definition approach. Three different neural network schemes are examined. None of the schemes requires full state measurements. The neural network controllers are implemented on a single flexible-link experimental test-bed. Experimental and simulation results are presented to illustrate the advantages and improved performance of the proposed tip position tracking controllers over the conventional PD-type controller
Keywords :
adaptive control; asymptotic stability; control system synthesis; feedback; manipulator dynamics; multilayer perceptrons; neurocontrollers; position control; PD-type controller; adaptive controllers; flexible-link manipulator; neural network based controllers; output re-definition approach; tip position tracking; Adaptive control; Adaptive systems; Computer networks; Control systems; Manipulator dynamics; Neural networks; Orbital robotics; Programmable control; Testing; Trajectory;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606792
