A deadbeat trajectory controller for nonlinear systems via neural netnorks a robot case study

Müjde Güzelkaya; Salman Kurtulan; Leyla Gören

doi:10.1109/ISIE.1993.268746

A deadbeat trajectory controller for nonlinear systems via neural netnorks a robot case study

Müjde Güzelkaya, Salman Kurtulan, Leyla Gören

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this study, a method for trajectory control of nonlinear systems is presented. Nonlinear feedback is used in order to obtain a linear model, and the nonlinearities and uncertainties remained are modelled by a multilayer neural network. The tracking error between the nonlinear system output and a desired trajectory is tried to be vanished by a deadbeat controller. The algorithm is applied to the trajectory control of a robot arm.

Original language	English
Title of host publication	ISIE 1993 - Budapest
Subtitle of host publication	IEEE International Symposium on Industrial Electronics, Conference Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	549-553
Number of pages	5
ISBN (Electronic)	0780312279
DOIs	https://doi.org/10.1109/ISIE.1993.268746
Publication status	Published - 1993
Event	1993 IEEE International Symposium on Industrial Electronics, ISIE 1993 - Budapest, Hungary Duration: 1 Jun 1993 → 3 Jun 1993

Publication series

Name	IEEE International Symposium on Industrial Electronics

Conference

Conference	1993 IEEE International Symposium on Industrial Electronics, ISIE 1993
Country/Territory	Hungary
City	Budapest
Period	1/06/93 → 3/06/93

Bibliographical note

Publisher Copyright:
© 1993 IEEE.

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10.1109/ISIE.1993.268746

Cite this

Güzelkaya, M., Kurtulan, S., & Gören, L. (1993). A deadbeat trajectory controller for nonlinear systems via neural netnorks a robot case study. In ISIE 1993 - Budapest: IEEE International Symposium on Industrial Electronics, Conference Proceedings (pp. 549-553). Article 268746 (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.1993.268746

Güzelkaya, Müjde ; Kurtulan, Salman ; Gören, Leyla. / A deadbeat trajectory controller for nonlinear systems via neural netnorks a robot case study. ISIE 1993 - Budapest: IEEE International Symposium on Industrial Electronics, Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 1993. pp. 549-553 (IEEE International Symposium on Industrial Electronics).

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abstract = "In this study, a method for trajectory control of nonlinear systems is presented. Nonlinear feedback is used in order to obtain a linear model, and the nonlinearities and uncertainties remained are modelled by a multilayer neural network. The tracking error between the nonlinear system output and a desired trajectory is tried to be vanished by a deadbeat controller. The algorithm is applied to the trajectory control of a robot arm.",

author = "M{\"u}jde G{\"u}zelkaya and Salman Kurtulan and Leyla G{\"o}ren",

note = "Publisher Copyright: {\textcopyright} 1993 IEEE.; 1993 IEEE International Symposium on Industrial Electronics, ISIE 1993 ; Conference date: 01-06-1993 Through 03-06-1993",

year = "1993",

doi = "10.1109/ISIE.1993.268746",

language = "English",

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Güzelkaya, M , Kurtulan, S & Gören, L 1993, A deadbeat trajectory controller for nonlinear systems via neural netnorks a robot case study. in ISIE 1993 - Budapest: IEEE International Symposium on Industrial Electronics, Conference Proceedings., 268746, IEEE International Symposium on Industrial Electronics, Institute of Electrical and Electronics Engineers Inc., pp. 549-553, 1993 IEEE International Symposium on Industrial Electronics, ISIE 1993, Budapest, Hungary, 1/06/93. https://doi.org/10.1109/ISIE.1993.268746

A deadbeat trajectory controller for nonlinear systems via neural netnorks a robot case study. / Güzelkaya, Müjde ; Kurtulan, Salman; Gören, Leyla.
ISIE 1993 - Budapest: IEEE International Symposium on Industrial Electronics, Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 1993. p. 549-553 268746 (IEEE International Symposium on Industrial Electronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this study, a method for trajectory control of nonlinear systems is presented. Nonlinear feedback is used in order to obtain a linear model, and the nonlinearities and uncertainties remained are modelled by a multilayer neural network. The tracking error between the nonlinear system output and a desired trajectory is tried to be vanished by a deadbeat controller. The algorithm is applied to the trajectory control of a robot arm.

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Güzelkaya M , Kurtulan S, Gören L. A deadbeat trajectory controller for nonlinear systems via neural netnorks a robot case study. In ISIE 1993 - Budapest: IEEE International Symposium on Industrial Electronics, Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 1993. p. 549-553. 268746. (IEEE International Symposium on Industrial Electronics). doi: 10.1109/ISIE.1993.268746

A deadbeat trajectory controller for nonlinear systems via neural netnorks a robot case study

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