Neural network-based approaches to controller design for robot manipulators.

Persistent Link:
http://hdl.handle.net/10150/185612
Title:
Neural network-based approaches to controller design for robot manipulators.
Author:
Karakasoglu, Ahmet.
Issue Date:
1991
Publisher:
The University of Arizona.
Rights:
Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.
Abstract:
This dissertation is concerned with the development of neural network-based methods to the control of robot manipulators and focusses on three different approaches for this purpose. In the first approach, an implementation of an intelligent adaptive control strategy in the execution of complex trajectory tracking tasks by using multilayer neural networks is demonstrated by exploiting the pattern classification capability of these nets. The network training is provided by a rule-based controller which is programmed to switch an appropriate adaptive control algorithm for each component type of motion constituting the overall trajectory tracking task. The second approach is based on the capability of trained neural networks for approximating input-output mappings. The use of dynamical networks with recurrent connections and efficient supervised training policies for the identification and adaptive control of a nonlinear process are discussed and a decentralized adaptive control strategy for a class of nonlinear dynamical systems with specific application to robotic manipulators is presented. An effective integration of the modelling of inverse dynamics property of neural nets with the robustness to unknown disturbances property of variable structure control systems is considered as the third approach. This methodology yields a viable procedure for selecting the control parameters adaptively and for designing a model-following adaptive control scheme for a class of nonlinear dynamical systems with application to robot manipulators.
Type:
text; Dissertation-Reproduction (electronic)
Keywords:
Dissertations, Academic; Artificial intelligence.
Degree Name:
Ph.D.
Degree Level:
doctoral
Degree Program:
Electrical and Computer Engineering; Graduate College
Degree Grantor:
University of Arizona
Advisor:
Sundareshan, Malur K.

Full metadata record

DC FieldValue Language
dc.language.isoenen_US
dc.titleNeural network-based approaches to controller design for robot manipulators.en_US
dc.creatorKarakasoglu, Ahmet.en_US
dc.contributor.authorKarakasoglu, Ahmet.en_US
dc.date.issued1991en_US
dc.publisherThe University of Arizona.en_US
dc.rightsCopyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.en_US
dc.description.abstractThis dissertation is concerned with the development of neural network-based methods to the control of robot manipulators and focusses on three different approaches for this purpose. In the first approach, an implementation of an intelligent adaptive control strategy in the execution of complex trajectory tracking tasks by using multilayer neural networks is demonstrated by exploiting the pattern classification capability of these nets. The network training is provided by a rule-based controller which is programmed to switch an appropriate adaptive control algorithm for each component type of motion constituting the overall trajectory tracking task. The second approach is based on the capability of trained neural networks for approximating input-output mappings. The use of dynamical networks with recurrent connections and efficient supervised training policies for the identification and adaptive control of a nonlinear process are discussed and a decentralized adaptive control strategy for a class of nonlinear dynamical systems with specific application to robotic manipulators is presented. An effective integration of the modelling of inverse dynamics property of neural nets with the robustness to unknown disturbances property of variable structure control systems is considered as the third approach. This methodology yields a viable procedure for selecting the control parameters adaptively and for designing a model-following adaptive control scheme for a class of nonlinear dynamical systems with application to robot manipulators.en_US
dc.typetexten_US
dc.typeDissertation-Reproduction (electronic)en_US
dc.subjectDissertations, Academicen_US
dc.subjectArtificial intelligence.en_US
thesis.degree.namePh.D.en_US
thesis.degree.leveldoctoralen_US
thesis.degree.disciplineElectrical and Computer Engineeringen_US
thesis.degree.disciplineGraduate Collegeen_US
thesis.degree.grantorUniversity of Arizonaen_US
dc.contributor.advisorSundareshan, Malur K.en_US
dc.contributor.committeememberTharp, Hal S.en_US
dc.contributor.committeememberBahr, Randall K.en_US
dc.contributor.committeememberWang, Fei-Yueen_US
dc.identifier.proquest9202083en_US
dc.identifier.oclc711788617en_US
All Items in UA Campus Repository are protected by copyright, with all rights reserved, unless otherwise indicated.