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

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Özet

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.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığıISIE 1993 - Budapest
Ana bilgisayar yayını alt yazısıIEEE International Symposium on Industrial Electronics, Conference Proceedings
YayınlayanInstitute of Electrical and Electronics Engineers Inc.
Sayfalar549-553
Sayfa sayısı5
ISBN (Elektronik)0780312279
DOI'lar
Yayın durumuYayınlandı - 1993
Etkinlik1993 IEEE International Symposium on Industrial Electronics, ISIE 1993 - Budapest, Hungary
Süre: 1 Haz 19933 Haz 1993

Yayın serisi

AdıIEEE International Symposium on Industrial Electronics

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???event.eventtypes.event.conference???1993 IEEE International Symposium on Industrial Electronics, ISIE 1993
Ülke/BölgeHungary
ŞehirBudapest
Periyot1/06/933/06/93

Bibliyografik not

Publisher Copyright:
© 1993 IEEE.

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