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

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

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 dil	İngilizce
Ana bilgisayar yayını başlığı	ISIE 1993 - Budapest
Ana bilgisayar yayını alt yazısı	IEEE International Symposium on Industrial Electronics, Conference Proceedings
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	549-553
Sayfa sayısı	5
ISBN (Elektronik)	0780312279
DOI'lar	https://doi.org/10.1109/ISIE.1993.268746
Yayın durumu	Yayınlandı - 1993
Etkinlik	1993 IEEE International Symposium on Industrial Electronics, ISIE 1993 - Budapest, Hungary Süre: 1 Haz 1993 → 3 Haz 1993

Yayın serisi

Adı	IEEE International Symposium on Industrial Electronics

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	1993 IEEE International Symposium on Industrial Electronics, ISIE 1993
Ülke/Bölge	Hungary
Şehir	Budapest
Periyot	1/06/93 → 3/06/93

Bibliyografik not

Publisher Copyright:
© 1993 IEEE.

Belgeye Erişim

10.1109/ISIE.1993.268746

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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). Makale 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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title = "A deadbeat trajectory controller for nonlinear systems via neural netnorks a robot case study",

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",

series = "IEEE International Symposium on Industrial Electronics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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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).

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

TY - GEN

T1 - A deadbeat trajectory controller for nonlinear systems via neural netnorks a robot case study

AU - Güzelkaya, Müjde

AU - Kurtulan, Salman

AU - Gören, Leyla

PY - 1993

Y1 - 1993

N2 - 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.

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.

UR - https://www.scopus.com/pages/publications/85063659370

U2 - 10.1109/ISIE.1993.268746

DO - 10.1109/ISIE.1993.268746

M3 - Conference contribution

AN - SCOPUS:85063659370

T3 - IEEE International Symposium on Industrial Electronics

SP - 549

EP - 553

BT - ISIE 1993 - Budapest

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 1993 IEEE International Symposium on Industrial Electronics, ISIE 1993

Y2 - 1 June 1993 through 3 June 1993

ER -

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

Özet

Yayın serisi

???event.eventtypes.event.conference???

Bibliyografik not

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap