This paper presents a design methodology for an on-line self-tuning adaptive control (OLSTAC) of a single flexible link manipulator (FLM) using backpropagation neural networks (BPNN). The particular problem discussed is the on-line system identification of a FLM using BPNN and the OLSTAC of a FLM using a separate neural network as a controller. A finite-element model of a FLM is obtained using ANSYS. The pseudo-link concepts developed in (2) are used to determine on-line angular displacement of the end effector of the FLM. The illustrative simulation results are promising and show that the OLSTAC technique can be applied to flexible structures such as a FEM resulting reduced error and increased robustness.<>


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    Titel :

    Neural network based adaptive control of a flexible link manipulator


    Beteiligte:
    Mahmood, N. (Autor:in) / Walcott, B.L. (Autor:in)


    Erscheinungsdatum :

    01.01.1993


    Format / Umfang :

    540259 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Dynamic modeling and adaptive control of a single-link flexible manipulator

    SASIADEK, JERZY Z. / SRINASAN, RAMESH | AIAA | 1989



    Control of a two-link flexible manipulator

    SASIADEK, J. / MIN, K. | AIAA | 1989



    Robust control approaches for a two-link flexible manipulator

    Adams, R. J. / Apkarian, P. / Chretien, J.-P. | British Library Conference Proceedings | 1996