Title :
Self-tuning control of a two-link flexible manipulator using neural networks
Author :
Sasaki, Minoru ; Asai, Akihiro ; Shimizu, Toshimi ; Ito, Satoshi
Author_Institution :
Dept. of Human & Inf. Syst. Eng., Gifu Univ., Gifu, Japan
Abstract :
In this paper, a self-tuning control of a two-link flexible manipulator using neural networks is presented. The neural networks learn the gains of PI controllers for the flexible manipulator. Numerical results show that this presented neural network control system can suppress the vibration of the flexible manipulator and track the desired joint angles. Simulation results show that the self-tuning control system using neural network can be used effectively for the position control of the two-link flexible manipulator.
Keywords :
PI control; adaptive control; manipulators; neurocontrollers; position control; self-adjusting systems; PI controllers; neural network control system; position control; self-tuning control; two-link flexible manipulator; Analytical models; Capacitive sensors; Control systems; Electronic mail; Manipulator dynamics; Neural networks; Optimal control; Testing; Transfer functions; Vibration control; PI control; Self-tuning control; Two-link flexible manipulator; neural networks;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
