Predictive control with neural network model for flexible link robot

This paper proposes the use of predictive control systems coupled with artificial neural networks (ANN) to control the dynamic behavior of a single-link flexible manipulator rotating in a horizontal plane. For systems with unessential nonlinearity and without non-minimum phase properties, it is quit...

Full description

Saved in:
Bibliographic Details
Main Authors: Shipitko, I.A., Zmeu, Z.V.
Format: Conference Proceeding
Language:English
Subjects:
Artificial neural networks
Control systems
Manipulator dynamics
Neural networks
Nonlinear control systems
Prediction algorithms
Predictive control
Predictive models
Robots
Robust control
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper proposes the use of predictive control systems coupled with artificial neural networks (ANN) to control the dynamic behavior of a single-link flexible manipulator rotating in a horizontal plane. For systems with unessential nonlinearity and without non-minimum phase properties, it is quite enough to use one-step ahead predictive models to achieve efficient control, although they do not ensure sufficient robustness. For systems with more complicated dynamics, the application of extended predictive control algorithms with neural network model is desirable.
DOI:10.1109/SPCMTT.2003.1438151