International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Tip Position Control of a Flexible-Link Manipulator with Neural Networks

  • Tang Yuan-Gang (Department of Computer Science and Technology, Tsinghua University) ;
  • Sun Fu-Chun (Department of Computer Science and Technology, Tsinghua University) ;
  • Sun Zeng-Qi (Department of Computer Science and Technology, Tsinghua University) ;
  • Hu Ting-Liang (Department of Computer Science and Technology, Tsinghua University)
  • Published : 2006.06.01
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Abstract

To control the tip position of a flexible-link manipulator, a neural network (NN) controller is proposed in this paper. The dynamics error used to construct NN controller is derived based on output redefinition approach. Without the filtered tracking error, the proposed NN controller can still guarantee the closed-loop system uniformly asymptotically stable as well as NN weights bounded. Furthermore, the tracking error of desired trajectory can converge to zero with the proposed controller. For comparison an NN controller with filtered tracking error is also designed for the flexible-link manipulator. Finally, simulation studies are carried out to verify the theoretic results.

Keywords

References

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