{"title":"A deadbeat trajectory controller for nonlinear systems via neural network: a robot case study","authors":"M. Guzelkaya, S. Kurtulan, L. Goren","doi":"10.1109/ISIE.1993.268746","DOIUrl":null,"url":null,"abstract":"A method for trajectory control of nonlinear systems is presented. Nonlinear feedback is used in order to obtain a linear model, and the nonlinearities and uncertainties remain are modelled by a multilayer neural network. The tracking error between the nonlinear system output and a desired trajectory is attempted to be removed by a deadbeat controller. The algorithm is applied to the trajectory control of a robot arm.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIE.1993.268746","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
A method for trajectory control of nonlinear systems is presented. Nonlinear feedback is used in order to obtain a linear model, and the nonlinearities and uncertainties remain are modelled by a multilayer neural network. The tracking error between the nonlinear system output and a desired trajectory is attempted to be removed by a deadbeat controller. The algorithm is applied to the trajectory control of a robot arm.<>
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
