ISBN: 978-981-09-5471-0 DOI: 10.18178/wcse.2015.04.125
Neural Net Control of High Nonlinear 2-DOF Nonlinear Robotic Arm
Abstract— A robust ANN system to enhance the control performance and robustness of a Two links robotic system (UoB-Arm) is presented. The UoB-Arm control architecture consists of a classical (PD) controller, independent of the high nonlinear dynamics of the two links robotic model, in parallel with a trainable ANN architecture. ANN architecture is used to identify the whole robotic arm inverse dynamics for arm control compensation. The (PD) controller is used to guarantee the stability and robustness of the whole control system, hence achieve a précised tracking accuracy.
Index Terms— UOB-Robotic Arm, ANN Learning, Arm Nonlinear Control, PD controller
College of Engineering, University of Bahrain, BAHRAIN
Cite: E. Mattar, "Neural Net Control of High Nonlinear 2-DOF Nonlinear Robotic Arm," 2015 The 5th International Workshop on Computer Science and Engineering-Information Processing and Control Engineering (WCSE 2015-IPCE), pp. 787-791, Moscow, Russia, April 15-17, 2015.