A new adaptive neural network based observer for robotic manipulators

Reza Mohammadi Asl; Farzad Hashemzadeh; Mohammad Ali Badamchizadeh

doi:10.1109/ICRoM.2015.7367862

A new adaptive neural network based observer for robotic manipulators

Reza Mohammadi Asl
, Farzad Hashemzadeh
, Mohammad Ali Badamchizadeh

University of Tabriz

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakem

13 Atıf (Scopus)

Özet

In this paper, a new neural network based observer is proposed for a class of nonlinear systems. The proposed observer can applied to estimate nonlinear systems with a high nonlinearity without any prior knowledge about system. This features help the proposed neuro-observer for real implementation and to use it in practice. The Lyapunov's direct method employed to show the stability and estimating performance of the proposed scheme. Simulation results on a two DOF robot manipulator are presented to show the efficiency of the proposed neural network based observer.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	International Conference on Robotics and Mechatronics, ICROM 2015
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	663-668
Sayfa sayısı	6
ISBN (Elektronik)	9781467372343
DOI'lar	https://doi.org/10.1109/ICRoM.2015.7367862
Yayın durumu	Yayınlandı - 28 Ara 2015
Harici olarak yayınlandı	Evet
Etkinlik	3rd RSI/ISM International Conference on Robotics and Mechatronics, ICROM 2015 - Tehran, Iran, Islamic Republic of Süre: 7 Eki 2015 → 9 Eki 2015

Yayın serisi

Adı	International Conference on Robotics and Mechatronics, ICROM 2015

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

???event.eventtypes.event.conference???	3rd RSI/ISM International Conference on Robotics and Mechatronics, ICROM 2015
Ülke/Bölge	Iran, Islamic Republic of
Şehir	Tehran
Periyot	7/10/15 → 9/10/15

Bibliyografik not

Publisher Copyright:
© 2015 IEEE.

Belgeye Erişim

10.1109/ICRoM.2015.7367862

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

Asl, R. M., Hashemzadeh, F., & Badamchizadeh, M. A. (2015). A new adaptive neural network based observer for robotic manipulators. In International Conference on Robotics and Mechatronics, ICROM 2015 (pp. 663-668). Makale 7367862 (International Conference on Robotics and Mechatronics, ICROM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2015.7367862

@inproceedings{b0db026a436a4df3abdef96142416eb0,

title = "A new adaptive neural network based observer for robotic manipulators",

abstract = "In this paper, a new neural network based observer is proposed for a class of nonlinear systems. The proposed observer can applied to estimate nonlinear systems with a high nonlinearity without any prior knowledge about system. This features help the proposed neuro-observer for real implementation and to use it in practice. The Lyapunov's direct method employed to show the stability and estimating performance of the proposed scheme. Simulation results on a two DOF robot manipulator are presented to show the efficiency of the proposed neural network based observer.",

keywords = "Lyapunov stability, Neural Network, neuro-observer, robot manipulator, state observer",

author = "Asl, \{Reza Mohammadi\} and Farzad Hashemzadeh and Badamchizadeh, \{Mohammad Ali\}",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 3rd RSI/ISM International Conference on Robotics and Mechatronics, ICROM 2015 ; Conference date: 07-10-2015 Through 09-10-2015",

year = "2015",

month = dec,

day = "28",

doi = "10.1109/ICRoM.2015.7367862",

language = "English",

series = "International Conference on Robotics and Mechatronics, ICROM 2015",

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

pages = "663--668",

booktitle = "International Conference on Robotics and Mechatronics, ICROM 2015",

address = "United States",

}

Asl, RM, Hashemzadeh, F & Badamchizadeh, MA 2015, A new adaptive neural network based observer for robotic manipulators. in International Conference on Robotics and Mechatronics, ICROM 2015., 7367862, International Conference on Robotics and Mechatronics, ICROM 2015, Institute of Electrical and Electronics Engineers Inc., pp. 663-668, 3rd RSI/ISM International Conference on Robotics and Mechatronics, ICROM 2015, Tehran, Iran, Islamic Republic of, 7/10/15. https://doi.org/10.1109/ICRoM.2015.7367862

A new adaptive neural network based observer for robotic manipulators. / Asl, Reza Mohammadi; Hashemzadeh, Farzad; Badamchizadeh, Mohammad Ali.
International Conference on Robotics and Mechatronics, ICROM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 663-668 7367862 (International Conference on Robotics and Mechatronics, ICROM 2015).

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakem

TY - GEN

T1 - A new adaptive neural network based observer for robotic manipulators

AU - Asl, Reza Mohammadi

AU - Hashemzadeh, Farzad

AU - Badamchizadeh, Mohammad Ali

PY - 2015/12/28

Y1 - 2015/12/28

N2 - In this paper, a new neural network based observer is proposed for a class of nonlinear systems. The proposed observer can applied to estimate nonlinear systems with a high nonlinearity without any prior knowledge about system. This features help the proposed neuro-observer for real implementation and to use it in practice. The Lyapunov's direct method employed to show the stability and estimating performance of the proposed scheme. Simulation results on a two DOF robot manipulator are presented to show the efficiency of the proposed neural network based observer.

AB - In this paper, a new neural network based observer is proposed for a class of nonlinear systems. The proposed observer can applied to estimate nonlinear systems with a high nonlinearity without any prior knowledge about system. This features help the proposed neuro-observer for real implementation and to use it in practice. The Lyapunov's direct method employed to show the stability and estimating performance of the proposed scheme. Simulation results on a two DOF robot manipulator are presented to show the efficiency of the proposed neural network based observer.

KW - Lyapunov stability

KW - Neural Network

KW - neuro-observer

KW - robot manipulator

KW - state observer

UR - https://www.scopus.com/pages/publications/84962355584

U2 - 10.1109/ICRoM.2015.7367862

DO - 10.1109/ICRoM.2015.7367862

M3 - Conference contribution

AN - SCOPUS:84962355584

T3 - International Conference on Robotics and Mechatronics, ICROM 2015

SP - 663

EP - 668

BT - International Conference on Robotics and Mechatronics, ICROM 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 3rd RSI/ISM International Conference on Robotics and Mechatronics, ICROM 2015

Y2 - 7 October 2015 through 9 October 2015

ER -

A new adaptive neural network based observer for robotic manipulators

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