A proposed hybrid recurrent neural control system for two co-operating robots


Yildirim S.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, cilt.42, ss.95-111, 2005 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 42 Konu: 1
  • Basım Tarihi: 2005
  • Doi Numarası: 10.1007/s10846-004-3027-2
  • Dergi Adı: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
  • Sayfa Sayıları: ss.95-111

Özet

This paper discusses a model refernce adaptive (MRAC) position/force controller using proposed neural networks for two co-operating planar robots. The proposed neural network is a recurrent hybrid network. The recurrent networks have feedback connections and thus an inherent memory for dynamics, which makes them suitable for representing dynamic systems. A feature of the networks adopted is their hybrid hidden layer, which includes both linear and nonlinear neurons. On the other hand, the results of the case of a single robot under position control alone are presented for comparison. The results presented show the superior ability of the proposed neural network based model reference adaptive control scheme at adapting to changes in the dynamics parameters of robots.