Browse > Article

Tip Position Control of a Flexible-Link Manipulator with Neural Networks  

Tang Yuan-Gang (Department of Computer Science and Technology, Tsinghua University)
Sun Fu-Chun (Department of Computer Science and Technology, Tsinghua University)
Sun Zeng-Qi (Department of Computer Science and Technology, Tsinghua University)
Hu Ting-Liang (Department of Computer Science and Technology, Tsinghua University)
Publication Information
International Journal of Control, Automation, and Systems / v.4, no.3, 2006 , pp. 308-317 More about this Journal
Abstract
To control the tip position of a flexible-link manipulator, a neural network (NN) controller is proposed in this paper. The dynamics error used to construct NN controller is derived based on output redefinition approach. Without the filtered tracking error, the proposed NN controller can still guarantee the closed-loop system uniformly asymptotically stable as well as NN weights bounded. Furthermore, the tracking error of desired trajectory can converge to zero with the proposed controller. For comparison an NN controller with filtered tracking error is also designed for the flexible-link manipulator. Finally, simulation studies are carried out to verify the theoretic results.
Keywords
Filtered tracking error; flexible-link manipulator; Lyapunov function; neural network; output redefinition;
Citations & Related Records

Times Cited By Web Of Science : 4  (Related Records In Web of Science)
Times Cited By SCOPUS : 3
연도 인용수 순위
1 R. J. Theodore and A. Ghosal, 'Robust control of multilink flexible manipulators,' Mechanism and Machine Theory, vol. 38, no. 4, pp. 367-377, 2003   DOI   ScienceOn
2 B. Siciliano and W. J. Book, 'A Singular perturbation approach to control of lightweight flexible manipulators,' International Journal of Robotics Research, vol. 7, no. 4, pp. 79-90, 1988   DOI   ScienceOn
3 A. A. Marco, 'On the properties of a dynamic model of flexible robot manipulators,' Journal of Dynamic Systems, Measurement, and Control, vol. 12, pp. 8-14, 1998
4 S. Pal, H. E. Stephanou, and G. Cook, 'Optimal control of a single link flexible manipulator,' Proc. of the IEEE International Conference on Robotics and Automation, vol. 2, pp. 171-175, April 24-29, 1988
5 F. L. Lewis and M. Vandegrift, 'Flexible robot arm control by a feedback linearization/singular perturbation approach,' Proc. of the IEEE International Conf. on Robotics and Automation, vol. 3, pp. 729-736, 1993
6 A. D. Luca and B. Siciliano, 'Regulation of flexible arms under gravity,' IEEE Trans. on Robotics and Automation, vol. 9, no. 4, pp. 463-467, 1993   DOI   ScienceOn
7 T. Yabuta and T. Yamada, 'Neural network controller characteristics with regard to adaptive control,' IEEE Trans. on Systems, Man and Cybernetics, vol. 22, no. 1, pp. 170-177, 1992   DOI   ScienceOn
8 F. L. Lewis, A. Yegildirek, and K. Liu, 'Multilayer neural-net robot controller with guaranteed tracking performance,' IEEE Trans. on Neural Networks, vol. 7, no. 2, pp. 388-399, 1996   DOI   ScienceOn
9 Y. Li, G. Liu, T. Hong, and K. Liu, 'Robust control of a two-link flexible manipulator with neural networks based quasi-static deflection compensation,' Proc. of American Control Conference, vol. 6, pp. 5258-5263, June, 2003
10 A. Yesildirek, M. W. Vandegrift, and F. L. Lewis, 'A neural network controller for flexible-link robots,' Proc. of the IEEE International Symposium on Intelligent Control, pp. 63-68, Aug. 16-18, 1994
11 A. D. Luca and B. Siciliano, 'Closed-form dynamic model of planar multilink lightweight robots,' IEEE Trans. on Systems, Man and Cybernetics, vol. 21, no. 4, pp. 826-839, 1991   DOI   ScienceOn
12 M. Moallem, K. Khorasani, and R. V. Patel, 'An integral manifold approach for tip-position tracking of flexible multi-link manipulators,' IEEE Trans. on Robotics and Automation, vol. 13, no. 6, pp. 823-837, 1997   DOI   ScienceOn
13 H. A. Talebi, K. Khorasani, and R. V. Patel, 'Neural network based control schemes for flexible-link manipulators: Simulations and experiments,' Neural Networks, vol. 11, no. 7-8, pp. 1357-1377, 1998   DOI   ScienceOn
14 W. Cheng and J. T. Wen, 'A neural controller for the tracking control of flexible arms,' Proc. of the IEEE Int. Conf. on Neural Networks, pp.749-754, 1993
15 S. Q. Zhu, S. Commuri, and F. L. Lewis, 'A singular perturbation approach to stabilization of the internal dynamics of multilink flexible robots,' American Control Conference, vol. 2, pp. 1386-1390, June 29-July 1, 1994
16 M. Moallem, R. V. Patel, and K. Khorasani, 'An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators,' J. Robot. System., vol. 14, no. 9, pp. 646-658, 1997
17 D. Wang and M. Vidyasagar, 'Feedback linearizability of multi-link manipulations with one flexible link,' Proc. of the 28th IEEE Conference on Decision and Control, vol. 3, pp. 2072-2077, 1989