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Performance Analysis of a Neuro-PID Controller Applied to a Robot Manipulator
| Content Provider | SAGE Publishing |
|---|---|
| Author | Pezeshki, Saeed Badalkhani, Sajad Javadi, Ali |
| Copyright Year | 2012 |
| Abstract | The performance of robot manipulators with nonadaptive controllers might degrade significantly due to the open loop unstable system and the effect of some uncertainties on the robot model or environment. A novel Neural Network PID controller (NNP) is proposed in order to improve the system performance and its robustness. The Neural Network (NN) technique is applied to compensate for the effect of the uncertainties of the robot model. With the NN compensator introduced, the system errors and the NN weights with large dispersion are guaranteed to be bounded in the Lyapunov sense. The weights of the NN compensator are adaptively tuned.The simulation results show the effectiveness of the model validation approach and its efficiency to guarantee a stable and accurate trajectory tracking process in the presence of uncertainties. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/51280?download=true |
| ISSN | 17298806 |
| Issue Number | 5 |
| Volume Number | 9 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/51280 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2012-01-01 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2012 Pezeshki et al.; licensee InTech. |
| Subject Keyword | PID-NN Control Neural Network Compensator Robot Manipulator Model Free Adaptive Controller Model Free |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
