Neural network based adaptive control of a flexible link manipulator
作者： N. Mahmood , B.L. Walcott
DOI: 10.1109/NAECON.1993.290831
关键词:
摘要: This paper presents a design methodology for an on-line self-tuning adaptive control (OLSTAC) of single flexible link manipulator (FLM) using backpropagation neural networks (BPNN). The particular problem discussed is the system identification FLM BPNN and OLSTAC separate network as controller. A finite-element model obtained ANSYS. pseudo-link concepts developed in (2) are used to determine angular displacement end effector FLM. illustrative simulation results promising show that technique can be applied structures such FEM resulting reduced error increased robustness. >
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