DocumentCode
505141
Title
Self-tuning control of a two-link flexible manipulator using neural networks
Author
Sasaki, Minoru ; Asai, Akihiro ; Shimizu, Toshimi ; Ito, Satoshi
Author_Institution
Dept. of Human & Inf. Syst. Eng., Gifu Univ., Gifu, Japan
fYear
2009
fDate
18-21 Aug. 2009
Firstpage
2468
Lastpage
2473
Abstract
In this paper, a self-tuning control of a two-link flexible manipulator using neural networks is presented. The neural networks learn the gains of PI controllers for the flexible manipulator. Numerical results show that this presented neural network control system can suppress the vibration of the flexible manipulator and track the desired joint angles. Simulation results show that the self-tuning control system using neural network can be used effectively for the position control of the two-link flexible manipulator.
Keywords
PI control; adaptive control; manipulators; neurocontrollers; position control; self-adjusting systems; PI controllers; neural network control system; position control; self-tuning control; two-link flexible manipulator; Analytical models; Capacitive sensors; Control systems; Electronic mail; Manipulator dynamics; Neural networks; Optimal control; Testing; Transfer functions; Vibration control; PI control; Self-tuning control; Two-link flexible manipulator; neural networks;
fLanguage
English
Publisher
ieee
Conference_Titel
ICCAS-SICE, 2009
Conference_Location
Fukuoka
Print_ISBN
978-4-907764-34-0
Electronic_ISBN
978-4-907764-33-3
Type
conf
Filename
5335303
Link To Document