DocumentCode
398907
Title
Intelligent stabilization of direct drive manipulators
Author
Akbas, Ertugrul ; Esin, E. Murat
Author_Institution
Gebze Inst. of Technol., Turkey
Volume
1
fYear
2003
fDate
22-24 Sept. 2003
Firstpage
367
Abstract
This paper investigates the control of nonlinear systems by neural networks. As the control methods, intelligent PD controller is studied and the performances of both classical PD and intelligent PD controller are comparatively evaluated on a two degrees of freedom direct drive robotic manipulator with respect to trajectory tracking performance, computational complexity, design complexity, RMS errors, necessary training time in learning phase and payload variations.
Keywords
PD control; manipulators; neural nets; nonlinear systems; PD controller; RMS errors; computational complexity; design complexity; direct drive manipulator; direct drive robotic manipulator; feedback error learning architecture; intelligent stabilization; neural networks; nonlinear system control; robotics; training time; trajectory tracking performance; Computational intelligence; Control systems; Intelligent control; Intelligent robots; Manipulators; Neural networks; Nonlinear control systems; Nonlinear systems; PD control; Performance evaluation;
fLanguage
English
Publisher
ieee
Conference_Titel
EUROCON 2003. Computer as a Tool. The IEEE Region 8
Print_ISBN
0-7803-7763-X
Type
conf
DOI
10.1109/EURCON.2003.1248045
Filename
1248045
Link To Document