Implementation of a neural network tracking controller for a single flexible link: Comparison with PD and PID controllers

L. B. Gutiérrez, F. L. Lewis, J. Andy Lowe

Resultado de la investigación: Contribución a una revistaArtículorevisión exhaustiva

79 Citas (Scopus)

Resumen

The objective of this paper is to show the results of the practical implementation of a neural network (NN) tracking controller on a single flexible link and compare its performance to that of proportional derivative (PD) and proportional integral derivative (PID) standard controllers. The NN controller is composed of an outer PD tracking loop, a singular perturbation inner loop for stabilization of the fast flexible-mode dynamics, and an NN inner loop used to feedback linearize the slow pointing dynamics. No off-line training or learning is needed for the NN. It is shown that the tracking performance of the NN controller is far better than that of the PD or PID standard controllers. An extra friction term was added in the tests to demonstrate the ability of the NN to learn unmodeled nonlinear dynamics.

Idioma originalInglés
Páginas (desde-hasta)307-318
Número de páginas12
PublicaciónIEEE Transactions on Industrial Electronics
Volumen45
N.º2
DOI
EstadoPublicada - 1998
Publicado de forma externa

Huella

Profundice en los temas de investigación de 'Implementation of a neural network tracking controller for a single flexible link: Comparison with PD and PID controllers'. En conjunto forman una huella única.

Citar esto