Abstract
This paper presents a design methodology for an on-line self-turning adaptive control (OLSTAC) of a single flexible link manipulator (FLM) using back-propagation neural networks (BPNN). The particular problem discussed is the on-line system identification of a FLM using BPNN and the OLSTAC of a FLM using a separate neural network as a controller. A finite-element model of a FLM is obtained using ANSYS. The pseudo-link concepts developed in are used to determine on-line angular displacement of the end effector of the FLM. The illustrative simulation results are promising and show that the OLSTAC technique can be applied to flexible structures such as a FLM resulting reduced error and increased robustness.
Original language | English |
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Pages | 851-857 |
Number of pages | 7 |
State | Published - 1993 |
Event | Proceedings of the IEEE 1993 National Aerospace and Electronics Conference - Dayton, OH, USA Duration: May 24 1993 → May 28 1993 |
Conference
Conference | Proceedings of the IEEE 1993 National Aerospace and Electronics Conference |
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City | Dayton, OH, USA |
Period | 5/24/93 → 5/28/93 |
ASJC Scopus subject areas
- General Engineering