Title :
A Mutation Co-evolution Clone Algorithm-Based Dynamic Recurrent Neural Network for Decoupling Control of Parallel Manipulator
Author :
Sun, Jian ; Ding, Yongsheng
Author_Institution :
Coll. of Inf. Sci. & Technol., Donghua Univ., Shanghai, China
Abstract :
Parallel manipulator is very complicate nonlinear, Strong coupling system. In this work, a decoupling controller was presented for parallel manipulator based on an improved dynamic recurrent neural network (IDRNN). IDRNN was trained by a mutation co-evolution clone algorithm. Finally, the control performance of the proposed control approach is illustrated through the comparison studies with robot tracking control approach.
Keywords :
manipulator dynamics; nonlinear control systems; position control; recurrent neural nets; coupling system; decoupling control; dynamic recurrent neural network; mutation coevolution clone algorithm; nonlinear system; parallel manipulator; robot tracking control approach; Cloning; Concurrent computing; Control systems; Educational technology; Genetic mutations; Heuristic algorithms; Manipulator dynamics; Nonlinear control systems; Recurrent neural networks; Textile technology; Decoupling control; Dynamic Recurrent Neural Network; Mutation Co-evolution;
Conference_Titel :
Future Computer and Communication, 2009. FCC '09. International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-0-7695-3676-7
DOI :
10.1109/FCC.2009.28
