Record number :
10005
Title of article :
Robust Tracking Control of a Direct Drive Robot
Author/Authors :
Kang، Bong Soo نويسنده , , Kirn، Soo Hyun نويسنده , , Kwak، Yoon Keun نويسنده , , Smith، Craig C. نويسنده ,
Issue Information :
فصلنامه با شماره پیاپی سال 1999
Pages :
-260
From page :
261
To page :
0
Abstract :
A method for tracking control of mechanical systems based on artificial neural networks is presented. The controller consists of a proportional plus derivative controller and a two-layer feedforward neural network. It is shown that the tracking error of the closed-loop system goes to zero while the control effort is minimized. Tuning of the neural networkʹs weights is formulated in terms of a constrained optimization problem. The resulting algorithm has a simple structure and requires a very modest computation effort, in addition, the neural networkʹs learning procedure is implemented on-line.
Keywords :
Heat exchangers , thermal optimization , radiators , space applications
Journal title :
Journal of Dynamic Systems,Measurement and Control
Journal title :
Journal of Dynamic Systems,Measurement and Control
Serial Year :
1999
Link To Document :
بازگشت