Implementation of a neural network tracking controller for a singleflexible link: comparison with PD and PID controllers
Gutierrez, L.B.
Lewis, F.L.
Lowe, J.A.
Univ. Pontificia Bolivariana, Medellin;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Apr 1998
Volume: 45,
Issue: 2
On page(s): 307-318
ISSN: 0278-0046
References Cited: 31
CODEN: ITIED6
INSPEC Accession Number: 5885056
Digital Object Identifier: 10.1109/41.681230
Current Version Published: 2002-08-06
Abstract
The objective of this paper is to show the results of the
practical implementation of a neural network (NN) tracking controller on
a single flexible link and compare its performance to that of
proportional derivative (PD) and proportional integral derivative (PID)
standard controllers. The NN controller is composed of an outer PD
tracking loop, a singular perturbation inner loop for stabilization of
the fast flexible-mode dynamics, and an NN inner loop used to feedback
linearize the slow pointing dynamics. No off-line training or learning
is needed for the NN. It is shown that the tracking performance of the
NN controller is far better than that of the PD or PID standard
controllers. An extra friction term was added in the tests to
demonstrate the ability of the NN to learn unmodeled nonlinear dynamics
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