Neural network design with genetic learning for control of a single link flexible manipulator

Sandeep Jain, Pei Yuan Peng, Anthony Tzes, Farshad Khorrami

Research output: Contribution to journalArticlepeer-review

Abstract

The application of neural networks for active control of lightly damped systems is considered in this article. The training process of the neural-network controller is based on the genetic learning algorithm. The schemes imitates nature's cleansing phenomena of natural selection and survival of the fittest to generate individual controllers with the best fitness values. It essentially incorporates an exhaustive search in the weight-space governed by the rituals of crossover and mutation to seek the optimum neural-network weights to satisfy certain performance criteria. Several appropriate modifications of the classical genetic algorithm for neural-network control purposes are discussed. The genetic-trained neural-network controller is applied for tip position tracking and vibration suppression of a single-link flexible arm. Simulation studies are presented to validate the effectiveness of the advocated algorithms.

Original languageEnglish (US)
Pages (from-to)135-151
Number of pages17
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume15
Issue number2
DOIs
StatePublished - 1996

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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