Neural network based tracking control for mechanical systems

2002 ◽  
Author(s):  
T. Efrati ◽  
H. Flashner
Keyword(s):  
Neural Network ◽  
Tracking Control ◽  
Mechanical Systems

Neural Network Based Tracking Control of Mechanical Systems

1999 ◽  
Vol 121 (1) ◽  
pp. 148-154
Author(s):  
T. Efrati ◽  
H. Flashner
Keyword(s):  
Neural Network ◽  
Tracking Control ◽  
Optimization Problem ◽  
Simple Structure ◽  
Tracking Error ◽  
Mechanical Systems ◽  
Closed Loop System ◽  
Control Effort ◽  
Learning Procedure ◽  
On Line

A method for tracking control of mechanical systems based on artificial neural networks is presented. The controller consists of a proportional plus derivative controller and a two-layer feedforward neural network. It is shown that the tracking error of the closed-loop system goes to zero while the control effort is minimized. Tuning of the neural network’s weights is formulated in terms of a constrained optimization problem. The resulting algorithm has a simple structure and requires a very modest computation effort. In addition, the neural network’s learning procedure is implemented on-line.

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