NDLI: Hybrid NNMPC/PID control of a two-link flexible manipulator with actuator dynamics

Content Provider	IEEE Xplore Digital Library
Author	Pedro, J.O. Tshabalala, T.
Copyright Year	2015
Description	Author affiliation: Sch. of Mech., Ind. & Aeronaut. Eng., Univ. of the Witwatersrand, Johannesburg, South Africa (Pedro, J.O.; Tshabalala, T.)
Abstract	This paper investigates the development of a hybrid collocated neural network-based model predictive control (NN-MPC) and non-collocated proportional-integral-derivative (PID) controller designed for input tracking and vibration control of a two-link flexible robotic manipulator (FRM). The flexible manipulator was modelled using Lagrange and assumed mode method. System identification is performed on the manipulator and a neural network model of the FRM is explicitly learnt. The NNMPC controller is designed such that the explicit model identified is stable in the closed loop. The NNMPC controller is used for motion tracking and the PID for vibration control. The effect of payload variations on the performance of the proposed controller is studied. The proposed controller is tested in the MATLAB/Simulink environment and its performance is compared with hybrid PD/PID controllers. The proposed controller's ability to track a constant input and sine wave is also studied. Simulation results show the effectiveness and robustness of the proposed hybrid NNMPC/PID controller.
Starting Page	1
Ending Page	6
File Size	2049998
Page Count	6
File Format	PDF
ISBN	9781479978625
DOI	10.1109/ASCC.2015.7244737
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-31
Publisher Place	Malaysia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Artificial neural networks Mathematical model PD control Voltage control Manipulator dynamics Payloads
Content Type	Text
Resource Type	Article

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