nach oben

Erschienen in:

2017 | OriginalPaper | Buchkapitel

An Adaptive Position Synchronization Controller Using Orthogonal Neural Network for 3-DOF Planar Parallel Manipulators

verfasst von : Quang Dan Le, Hee-Jun Kang, Tien Dung Le

Erschienen in: Intelligent Computing Methodologies

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config

KI-gestützte Suche

Aus

Abstract

This paper proposes an adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators. The controller is designed based on the combination of computed torque method with position synchronization technique and orthogonal neural network. By using the orthogonal neural network with online turning gains can overcome the drawbacks of the traditional feedforward neural network such as initial values of weights, number of processing elements, slow convergence speed and the difficulty of choosing learning rate. To evaluate the effectiveness of the proposed control strategy, simulations were conducted by using the combination of SimMechanics and Solidworks. The tracking control results of the parallel manipulators were significantly improved in comparison with the performance when applying non-synchronization controllers.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Nächstes Kapitel Navigation of Mobile Robot Using Type-2 Fuzzy System

Koren, Y.: Cross-coupled biaxial computer control for manufacturing systems. J. Dyn. Syst. Meas. Control 102, 265 (1980)CrossRefMATH

Feng, L., Koren, Y., Borenstein, J.: Cross-coupling motion controller for mobile robot. IEEE Control Syst. 13, 35–43 (1993)CrossRef

Ren, L., Mills, J.K., Sun, D.: Controller design applied to planar parallel manipulator for trajectory tracking robot. In: Proceeding of the 2005 IEEE International Conference on Robotics and Automation (2005). doi:10.1109/ROBOT.2005.1570242

Ren, L., Mills, J.K., Sun, D.: Experimental comparison of control approaches on trajectory tracking control of a 3 DOF parallel robot. IEEE Trans. Control Syst. Technol. 15(5), 982–988 (2007)CrossRef

Liu, Y.-C., Chopra, N.: Controlled synchronization of heterogeneous robotic manipulators in the task space. IEEE Trans. Robot. 28, 268–275 (2012)CrossRef

Rodriguez-Angeles, A., Nijmeijer, H.: Mutual synchronization of robot via estimated state feedback: a cooperative approach. IEEE Trans. Control Syst. Technol. 12(4), 542–554 (2004)CrossRef

Adaptive robot control using neural network: Sad, M., Bigras, P., Dessaint, L.-A., AI-Haddad, K. IEEE Trans. Ind. Electron. 41, 176–181 (1994)

He, W., Chen, Y., Yin, Z.: Adaptive neural network control of an uncertain robot with full-state constraints. IEEE Trans. Cybern. 46, 620–629 (2016)CrossRef

Li, X., Cheah, C.C.: Adaptive neural network control of robot based on a unified objective bound. IEEE Trans. Control Syst. Technol. 22, 1032–1043 (2014)CrossRef

10.

Le, Q.D., Kang, H.-J., Le, T.D.: Adaptive extended computed torque control of 3 DOF planar parallel manipulators using neural network and error compensator. In: Huang, D.-S., Han, K., Hussain, A. (eds.) ICIC 2016. LNCS, vol. 9773, pp. 437–448. Springer, Cham (2016). doi:10.1007/978-3-319-42297-8_41 CrossRef

11.

Gao, Y., Er, M.J., Yang, S.: Adaptive control of robot manipulators using fuzzy neural networks. IEEE Trans. Ind. Electron. 48, 1274–1278 (2001)CrossRef

12.

Chen, C.-S.: Dynamic structure neural fuzzy networks for robust adaptive control of robot manipulators. IEEE Trans. Ind. Electron. 55, 3402–3414 (2008)CrossRef

13.

Chen, M.S., Manry, M.T.: Conventional modeling of the multilayer perception using polynominal basis functions. IEEE Trans. Neural Netw. 4, 14–16 (1992)

14.

Castillo, E., Guijarro-Berdinas, B., Fontenla-Romero, O., Alonso-Betanzos, A.: A verry fast learning method for neural networks based on sensitivity analysis. J. Mach. Learn. Res. 7, 1159–1182 (2006)MathSciNetMATH

15.

Karayiannis, N.B., Venetsanopoulos, A.N.: Fast learning algorithm for neural networks. IEEE Trans. Circ. Syst. 39(7), 453–474 (1992)CrossRefMATH

16.

Yam, Y.F., Chow, T.W.S., Leung, C.T.: A new method in determining the initial weights of feedforward neural networks. Neuralcomputing 16, 23–32 (1997)CrossRef

17.

Wang, S., Chung, F.-L., Wang, J., Wu, J.: A fast learning method for feedforward neural networks. Neuralcomputing 149, 295–307 (2015)CrossRef

18.

Yang, S.-S., Tseng, C.-S.: An orthogonal neural network for function approximation. IEEE Trans. Syst. Man Cybern. 26(5), 779–785 (1996)CrossRef

19.

Sher, C.F., Tseng, C.-S., Chen, C.-S.: Properties and performance of orthogonal neural network in function approximation. Int. J. Intell. Syst. 16, 1377–1392 (2001)CrossRefMATH

20.

Peric, S.L., Antic, D.S., Milovanovic, M.B., Mitic, D.B., Milojkovic, M.T., Nikolic, S.S.: Quasi-sliding mode control with orhtogonal endocrine neural network-based estimator applied in anti-lock braking system. IEEE/ASME Trans. Mechatron. 21(2), 754–764 (2016)CrossRef

21.

Milojkovic, M.T., Antic, D.S., Milovanovic, M.B., Nikolic, S.S., Peric, S.L., Almawlawe, M.: Modeling of dynamic systems using othogonal endocrine adaptive neural-fuzzy inference systems. J. Dyn. Syst. Meas. Control 137(9), DS-15-1098 (2015)CrossRef

22.

Milojkovic, M.T., Nikolic, S.S., Dankovic, B., Antic, D., Jovanovic, Z.: Modeling of dynamical systems based on almost orthogonal polynominal. Math. Comput. Model. Dyn. Syst. 16(2), 133–144 (2010)MathSciNetCrossRefMATH

23.

Timmis, J., Neal, M., Thorniley, J.: An adaptive neuro-endocrine system for robotic systems. In: IEEE Workshop on Robotic Intelligence in Informationally Structured Space, pp. 129–136 (2009). doi:10.1109/RIISS.2009.4937917

24.

Wang, P.: Control of robot manipulators based on legendre orthogonal neural network. Appl. Mech. Mater. 427–429, 1089–1092 (2013)

25.

Nakamura, Y., Ghodoussi, M.: Dynamics computation of close-link robot mechanisms with no redundant and redundant actuators. IEEE Trans. Robot. Autom. 5, 294–302 (1989)CrossRef

Titel: An Adaptive Position Synchronization Controller Using Orthogonal Neural Network for 3-DOF Planar Parallel Manipulators
verfasst von: Quang Dan Le
Hee-Jun Kang
Tien Dung Le
Verlag: Springer International Publishing
Buch: Intelligent Computing Methodologies
Print ISBN: 978-3-319-63314-5

Electronic ISBN: 978-3-319-63315-2

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-63315-2_1

Springer Professional

Abstract

Bitte loggen Sie sich ein, um Zugang zu Ihrer Lizenz zu erhalten.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Springer Professional "Wirtschaft"