Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations
A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velo...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/694706 |
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| author | S. Puga-Guzmán J. Moreno-Valenzuela V. Santibáñez |
| author_facet | S. Puga-Guzmán J. Moreno-Valenzuela V. Santibáñez |
| author_sort | S. Puga-Guzmán |
| collection | DOAJ |
| description | A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller. |
| format | Article |
| id | doaj-art-e67cf18c4e2546d48fb5546709f0ce6b |
| institution | Kabale University |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-e67cf18c4e2546d48fb5546709f0ce6b2025-02-03T01:25:59ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/694706694706Adaptive Neural Network Motion Control of Manipulators with Experimental EvaluationsS. Puga-Guzmán0J. Moreno-Valenzuela1V. Santibáñez2Instituto Tecnológico de Tijuana, Boulevard. Industrial S/N, 22510 Tijuana, BC, MexicoInstituto Politécnico Nacional-CITEDI, Avenida del Parque 1310, Mesa de Otay, 22510 Tijuana, BC, MexicoInstituto Tecnológico de La Laguna, Boulevard Revolución y Cuahtémoc, 27000 Torreón, COAH, MexicoA nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller.http://dx.doi.org/10.1155/2014/694706 |
| spellingShingle | S. Puga-Guzmán J. Moreno-Valenzuela V. Santibáñez Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations The Scientific World Journal |
| title | Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations |
| title_full | Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations |
| title_fullStr | Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations |
| title_full_unstemmed | Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations |
| title_short | Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations |
| title_sort | adaptive neural network motion control of manipulators with experimental evaluations |
| url | http://dx.doi.org/10.1155/2014/694706 |
| work_keys_str_mv | AT spugaguzman adaptiveneuralnetworkmotioncontrolofmanipulatorswithexperimentalevaluations AT jmorenovalenzuela adaptiveneuralnetworkmotioncontrolofmanipulatorswithexperimentalevaluations AT vsantibanez adaptiveneuralnetworkmotioncontrolofmanipulatorswithexperimentalevaluations |