Dimensional Analysis of Acid Etching Effects on Vertically Grown Carbon Nanofibers Using Atomic Force Microscopy
This paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feed...
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| Format: | Article |
| Language: | English |
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Wiley
2013-07-01
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| Series: | Nanomaterials and Nanotechnology |
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| Online Access: | http://www.intechopen.com/journals/nanomaterials_and_nanotechnology/dimensional-analysis-of-acid-etching-effects-on-vertically-grown-carbon-nanofibers-using-atomic-forc |
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| _version_ | 1849404094407507968 |
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| author | Uchechukwu C. Wejinya Siva Naga Sandeep Chalamalasetty Zhuxin Dong Meyya Meyyappan Sunny E. Iyuke |
| author_facet | Uchechukwu C. Wejinya Siva Naga Sandeep Chalamalasetty Zhuxin Dong Meyya Meyyappan Sunny E. Iyuke |
| author_sort | Uchechukwu C. Wejinya |
| collection | DOAJ |
| description | This paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The weights for each neural network are adapted online by an extended Kalman filter training algorithm. The motion for each joint is controlled independently using only local angular position and velocity measurements. The stability analysis for the closed-loop system via the Lyapunov approach is included. Finally, the real-time results show the feasibility of the proposed control scheme robot manipulator. |
| format | Article |
| id | doaj-art-91aff4a3f5744d1ca719bcab7591ac41 |
| institution | Kabale University |
| issn | 1847-9804 |
| language | English |
| publishDate | 2013-07-01 |
| publisher | Wiley |
| record_format | Article |
| series | Nanomaterials and Nanotechnology |
| spelling | doaj-art-91aff4a3f5744d1ca719bcab7591ac412025-08-20T03:37:06ZengWileyNanomaterials and Nanotechnology1847-98042013-07-0139http://dx.doi.org/10.5772/5676345479Dimensional Analysis of Acid Etching Effects on Vertically Grown Carbon Nanofibers Using Atomic Force MicroscopyUchechukwu C. WejinyaSiva Naga Sandeep ChalamalasettyZhuxin DongMeyya MeyyappanSunny E. IyukeThis paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The weights for each neural network are adapted online by an extended Kalman filter training algorithm. The motion for each joint is controlled independently using only local angular position and velocity measurements. The stability analysis for the closed-loop system via the Lyapunov approach is included. Finally, the real-time results show the feasibility of the proposed control scheme robot manipulator.http://www.intechopen.com/journals/nanomaterials_and_nanotechnology/dimensional-analysis-of-acid-etching-effects-on-vertically-grown-carbon-nanofibers-using-atomic-forcDecentralized controlHigh-Order Neural NetworksExtended Kalman FilterBackstepping |
| spellingShingle | Uchechukwu C. Wejinya Siva Naga Sandeep Chalamalasetty Zhuxin Dong Meyya Meyyappan Sunny E. Iyuke Dimensional Analysis of Acid Etching Effects on Vertically Grown Carbon Nanofibers Using Atomic Force Microscopy Nanomaterials and Nanotechnology Decentralized control High-Order Neural Networks Extended Kalman Filter Backstepping |
| title | Dimensional Analysis of Acid Etching Effects on Vertically Grown Carbon Nanofibers Using Atomic Force Microscopy |
| title_full | Dimensional Analysis of Acid Etching Effects on Vertically Grown Carbon Nanofibers Using Atomic Force Microscopy |
| title_fullStr | Dimensional Analysis of Acid Etching Effects on Vertically Grown Carbon Nanofibers Using Atomic Force Microscopy |
| title_full_unstemmed | Dimensional Analysis of Acid Etching Effects on Vertically Grown Carbon Nanofibers Using Atomic Force Microscopy |
| title_short | Dimensional Analysis of Acid Etching Effects on Vertically Grown Carbon Nanofibers Using Atomic Force Microscopy |
| title_sort | dimensional analysis of acid etching effects on vertically grown carbon nanofibers using atomic force microscopy |
| topic | Decentralized control High-Order Neural Networks Extended Kalman Filter Backstepping |
| url | http://www.intechopen.com/journals/nanomaterials_and_nanotechnology/dimensional-analysis-of-acid-etching-effects-on-vertically-grown-carbon-nanofibers-using-atomic-forc |
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