Neural Control of Two-link Planar Robot

被引：0
|
作者：
Zhekov, Zhivko [1 ]
Marinov, Emil [1 ]
机构：
[1] Tech Univ Varna, Fac Comp Sci & Automat, Varna 9010, Bulgaria
来源：
2019 16TH CONFERENCE ON ELECTRICAL MACHINES, DRIVES AND POWER SYSTEMS (ELMA) | 2019年
关键词：
planar robot; neural network; neural control;
D O I：
10.1109/elma.2019.8771670
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper is proposed neural control of a two-link planar robot. The control system contains one feedforward neural network used as both neural model and neural controller. Neural network on-line learning process, based on gradient descent rule and error backpropagation is used. Accomplished simulation research confirms sufficient system performance at load variation.
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页数：4
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