Weighted Multiple Neural Network Boundary Control for a Flexible Manipulator With Uncertain Parameters
نویسندگان
چکیده
منابع مشابه
Neural Network Based Control for a Class of Uncertain Robot Manipulator with External Disturbance
In this paper, a neural network based continuous control mechanism that can compensate for system uncertainties is developed for a class of robot manipulators under both repeating and non-repeating disturbances. With limited assumptions about the systems’ dynamics, Lyapunov techniques are utilized to show that a semi-global asymptotic tracking result is achieved while all the closed-loop states...
متن کاملQFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملNeural Network Modeling of a Flexible Manipulator Robot
This paper presents an artificial neural networks application for a flexible process modeling. A flexible planar single-link manipulator robot is considered. The dynamic behavior of this process is described using Lagrange equations and finite elements method. The artificial neural networks are all variations on the parallel distributed processing (PDP) idea. The architecture of each network is...
متن کاملNonlinear H Control for Uncertain Flexible Joint Robots with Unscented Kalman Filter
Todays, use of combination of two or more methods was considered to control of systems. In this paper ispresented how to design of a nonlinear H∞ (NL-H∞) controller for flexible joint robot (FJR) based on boundedUKF state estimator. The UKF has more advantages to standard EKF such as low bios and no need toderivations. In this research, based on spong primary model for FJRs, same as rigid robot...
متن کاملReal-Time Implementation of Neural Network Learning Control of a Flexible Space Manipulator
&CI S must be considered. For this rcwm. the robot manipulator is normdly designed u a light-weight saucture which prcsentr a ant flexibility between links md results in a CbrIlenge in ammL The hxibility of a multi-degrecs of fnsQm m;mipllatsx pviding three dimauionrl motion isdifIiculttomodcL mdthurmostm0del-busd amDol schaner 8re \mferribl~ on the othcrhmb bccalse of the light-weight structur...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Access
سال: 2019
ISSN: 2169-3536
DOI: 10.1109/access.2019.2914077