Infinite-Mode Networks for Motion Control
Yalcin, B.
Ohnishi, K.
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Aug. 2009
Volume: 56,
Issue: 8
On page(s): 2933-2944
ISSN: 0278-0046
INSPEC Accession Number: 10793159
Digital Object Identifier: 10.1109/TIE.2009.2024096
First Published: 2009-06-02
Current Version Published: 2009-07-24
Abstract
In this paper, a novel multiple-input-multiple-output network model entitled "infinite-mode networks" (IMNs) is explained. The model proposes a new and challenging design concept. It is a dual structure and combines neural networks (NNs) to linear models. It has mathematically clear input-output relationship as compared to NNs. The model has a desired embedded internal function, which roughly determines a route for the whole system to follow as DNA does for biological systems. By this model, infinitely many error dimensions can be defined, and each error converges to zero in a stable manner. The network outputs include logical combinations of infinite modes of reference states, which consequently result in a substantial improvement of the control system performance. In order to support the network theory, time-delay and noise-suppression experiments on a four-channel haptic bilateral teleoperation control system are analyzed. An analysis between NNs, sliding-mode NNs, and IMNs is introduced. Possible future applications of IMNs are discussed.
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