Adaptive neural network control of an aerial work platform´s arm

An aerial work platform (AWP) is a type of off highway vehicle with a long beam to provide temporary access to inaccessible areas [1]. The motivation of the research is to increase its productivity, safety and reduce the manipulation complexity during the operation process. In this paper, a simplified two-link model of AWP´s arm is given. The control scheme based on neural network modeling technology is employed to steer the AWP´s arm to track the desired trajectories asymptotically, which requires neither the evaluation of inverse dynamical model nor the time-consuming training process. The simulation results validate the effectiveness of the proposed approach.