Artificial Intelligence Used to Control Non-linear Systems

Abstract

The aim of this paper is to establish the whether usage of artificial neural networks in robust robot arm control is a viable solution. The result of this study can be used later as a reference if such a solution would be used in a practical application. Controlled plant, which was a two arm robotic arm, was modelled using Simscape environment. Neural networks were utilized as a plant model, as trying to achieve a quality model of non-linear systems using a math equations is not only time consuming and very tough but sometimes even impossible.