{"title":"Neural Control of Two-link Planar Robot","authors":"Zhivko Zhekov, Emil Y. Marinov","doi":"10.1109/ELMA.2019.8771670","DOIUrl":null,"url":null,"abstract":"In this paper is proposed neural control of a two-link planar robot. The control system contains one feedforward neural network used as both neural model and neural controller. Neural network on-line learning process, based on gradient descent rule and error backpropagation is used. Accomplished simulation research confirms sufficient system performance at load variation.","PeriodicalId":304248,"journal":{"name":"2019 16th Conference on Electrical Machines, Drives and Power Systems (ELMA)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 16th Conference on Electrical Machines, Drives and Power Systems (ELMA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ELMA.2019.8771670","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
In this paper is proposed neural control of a two-link planar robot. The control system contains one feedforward neural network used as both neural model and neural controller. Neural network on-line learning process, based on gradient descent rule and error backpropagation is used. Accomplished simulation research confirms sufficient system performance at load variation.
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