NDLI: Intelligent nonlinear observer design for a class of nonlinear discrete-time flexible joint robot

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Intelligent nonlinear observer design for a class of nonlinear discrete-time flexible joint robot

Content Provider	Springer Nature Link
Author	Khoygani, Mohammad Reza Rahimi Ghasemi, Reza Vali, Ahmad Reza
Copyright Year	2014
Abstract	In this paper, a nonlinear intelligent observer design is applied for a class of nonlinear discrete-time flexible joint robot (DFJR) dynamic system based on artificial neural network (ANN). The DFJR system has a relatively complex nonlinear dynamic and internal states’ estimation of it poses a challenging robotic problem. Multilayer perceptron (MLP) is an important class of feed-forward ANNs that maps set of inputs onto a set of suitable outputs. The ANN under online learning is one of the artificial intelligence methods. Therefore, the MLP neural nonlinear observer is trained online and it is robust in the presence of external and internal uncertainties. The learning method of the intelligent observer is a simple back propagation (BP) algorithm and, furthermore, the learning method of estimation of the link positions and the velocities is BP-developed algorithm. Simulation results show promising performance of the proposed observer in the presence of measurement noise and parameters uncertainties.
Starting Page	45
Ending Page	56
Page Count	12
File Format	PDF
ISSN	18612776
Journal	Intelligent Service Robotics
Volume Number	8
Issue Number	1
e-ISSN	18612784
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2014-12-17
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Intelligent observer Discrete-time flexible joint robot Neural network Multilayer perceptron BP algorithm Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) User Interfaces and Human Computer Interaction Vibration, Dynamical Systems, Control Robotics and Automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Mechanical Engineering Computational Mechanics

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