Title :
Simulation of stable-adaptive control of robot arm using self-organizing neural network
Author :
Ahmad, Abd Manan ; Chen, Lee Ing ; Mohamad, Fatimah
Author_Institution :
Dept. of Software Eng., Universiti Teknologi Malaysia, Johor, Malaysia
Abstract :
In this paper, a simulation of neural network controller for a three links robot arm is presented. The network is based on modified Kohonen´s self-organizing map. In the proposed model, recurrent network and modified SOM network are interconnected.
Keywords :
adaptive control; control system analysis; neurocontrollers; robots; self-organising feature maps; stability; Kohonen´s self-organizing map; modified SOM network; neural network controller; recurrent network; stable-adaptive control simulation; three-link robot arm; Computational modeling; Control systems; Neural networks; Neurofeedback; Neurons; Nonlinear control systems; Nonlinear systems; Recurrent neural networks; Robot control; Robot kinematics;
Conference_Titel :
Research and Development, 2002. SCOReD 2002. Student Conference on
Print_ISBN :
0-7803-7565-3
DOI :
10.1109/SCORED.2002.1033082
