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Experimental evaluation of neural network based controllers for tracking the tip position of a flexible-link manipulator

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3 Author(s)
H. A. Talebi ; Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada ; K. Khorasani ; R. V. Patel

This paper presents neural network based adaptive controllers for a single flexible-link manipulator. The control is designed by using the output re-definition approach. Three different neural network schemes are examined. None of the schemes requires full state measurements. The neural network controllers are implemented on a single flexible-link experimental test-bed. Experimental and simulation results are presented to illustrate the advantages and improved performance of the proposed tip position tracking controllers over the conventional PD-type controller

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997