What does this research mean for the field?

A neural network controller based on an assumed mode method discretized model effectively achieves trajectory tracking and vibration suppression in two-link flexible robotic manipulators while guaranteeing uniform ultimate boundedness of the closed-loop system. Novelty: ClaimNovelty.METHODOLOGICAL. Consensus alignment: ConsensusAlignment.NEUTRAL.

What question did this study set out to answer?

The aim is to develop a neural network controller for trajectory tracking and vibration suppression in a two-link flexible manipulator.

March 22, 2018IEEE Transactions on Industrial Informatics

Neural Network Control of a Two-Link Flexible Robotic Manipulator Using Assumed Mode Method

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Authors

HGHejia GaoAnhui University WHWei HeBeijing Academy of Artificial Intelligence CZChen ZhouHainan University

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Implication

Randomized trial investigates feedback control for trajectory tracking and vibration suppression in robotic manipulators, highlighting its effectiveness.

Key Points

The aim is to develop a neural network controller for trajectory tracking and vibration suppression in a two-link flexible manipulator.
Developed n-dimensional discretized model using assumed mode method (AMM).
Investigated full-state and output feedback control based on the dynamic model.
Implemented simulations and experiments on the Quanser platform for validation.
Demonstrated uniform ultimate boundedness (UUB) stability using Lyapunov's method.
Achieved convergence of system states to zero within a small neighborhood.
Validated the feasibility of the neural network controller through extensive experiments.

Cite This Study

Gao et al. (2018) studied this question.

synapsesocial.com/papers/6a1cdcc55b2142ad731dcd07 https://doi.org/10.1109/tii.2018.2818120

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Implication

Randomized trial investigates feedback control for trajectory tracking and vibration suppression in robotic manipulators, highlighting its effectiveness.

Neural Network Control of a Two-Link Flexible Robotic Manipulator Using Assumed Mode Method

Discussion

Member takes

Implication

Key Points

Cite This Study

Neural Network Control of a Two-Link Flexible Robotic Manipulator Using Assumed Mode Method

Discussion

Member takes

Implication

Key Points

Cite This Study

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