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A Neural Network Based Controller For A Single Link Flexible Manipulator Using The Inverse Dynamics Approach
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Book Synopsis Control of Flexible-link Manipulators Using Neural Networks by : H.A. Talebi
Download or read book Control of Flexible-link Manipulators Using Neural Networks written by H.A. Talebi and published by Springer Science & Business Media. This book was released on 2001-01-29 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of Flexible-link Manipulators Using Neural Networks addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links. The non-minimum phase characteristic, coupling effects, nonlinearities, parameter variations and unmodeled dynamics in such a manipulator all contribute to these difficulties. Control strategies that ignore these uncertainties and nonlinearities generally fail to provide satisfactory closed-loop performance. This monograph develops and experimentally evaluates several intelligent (neural network based) control techniques to address the problem of controlling the end-point of flexible-link manipulators in the presence of all the aforementioned difficulties. To highlight the main issues, a very flexible-link manipulator whose hub exhibits a considerable amount of friction is considered for the experimental work. Four different neural network schemes are proposed and implemented on the experimental test-bed. The neural networks are trained and employed as online controllers.
Book Synopsis Flexible Robot Manipulators by : M. Osman Tokhi
Download or read book Flexible Robot Manipulators written by M. Osman Tokhi and published by IET. This book was released on 2008-05-20 with total page 579 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.
Book Synopsis IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation by : Evtim Zahariev
Download or read book IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation written by Evtim Zahariev and published by Springer. This book was released on 2019-01-09 with total page 218 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the dynamics of motion, and analysis of loading of the devices and of their behaviour caused by the working conditions and natural phenomena. This requires up-to-date methods for dynamics analysis and simulation, novel methods for numerical solution of ODE and DAE, real-time simulation, passive, semi-passive and active control algorithms. Applied examples are mechatronic (intelligent) multibody systems, autonomous vehicles, space structures, structures exposed to external and seismic excitations, large flexible structures and wind generators, robots and bio-robots. The book covers the following subjects: -Novel methods in multibody system dynamics; -Real-time dynamics; -Dynamic models of passive and active mechatronic devices; -Vehicle dynamics and control; -Structural dynamics; -Deflection and vibration suppression; -Numerical integration of ODE and DAE for large scale and stiff multibody systems; -Model reduction of large-scale flexible systems. The book will be of interest for scientists and academicians, PhD students and engineers at universities and scientific institutes.
Book Synopsis Robotic Manipulators and Vehicles by : Gerasimos Rigatos
Download or read book Robotic Manipulators and Vehicles written by Gerasimos Rigatos and published by Springer. This book was released on 2018-05-24 with total page 759 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.
Book Synopsis Robot Manipulators by : Agustin Jimenez
Download or read book Robot Manipulators written by Agustin Jimenez and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.
Book Synopsis Modelling and Control for Intelligent Industrial Systems by : Gerasimos Rigatos
Download or read book Modelling and Control for Intelligent Industrial Systems written by Gerasimos Rigatos and published by Springer Science & Business Media. This book was released on 2011-02-02 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: Incorporating intelligence in industrial systems can help to increase productivity, cut-off production costs, and to improve working conditions and safety in industrial environments. This need has resulted in the rapid development of modeling and control methods for industrial systems and robots, of fault detection and isolation methods for the prevention of critical situations in industrial work-cells and production plants, of optimization methods aiming at a more profitable functioning of industrial installations and robotic devices and of machine intelligence methods aiming at reducing human intervention in industrial systems operation. To this end, the book analyzes and extends some main directions of research in modeling and control for industrial systems. These are: (i) industrial robots, (ii) mobile robots and autonomous vehicles, (iii) adaptive and robust control of electromechanical systems, (iv) filtering and stochastic estimation for multisensor fusion and sensorless control of industrial systems (iv) fault detection and isolation in robotic and industrial systems, (v) optimization in industrial automation and robotic systems design, and (vi) machine intelligence for robots autonomy. The book will be a useful companion to engineers and researchers since it covers a wide spectrum of problems in the area of industrial systems. Moreover, the book is addressed to undergraduate and post-graduate students, as an upper-level course supplement of automatic control and robotics courses.
Book Synopsis Introduction to Linear Control Systems by : Yazdan Bavafa-Toosi
Download or read book Introduction to Linear Control Systems written by Yazdan Bavafa-Toosi and published by Academic Press. This book was released on 2017-09-19 with total page 1135 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Linear Control Systems is designed as a standard introduction to linear control systems for all those who one way or another deal with control systems. It can be used as a comprehensive up-to-date textbook for a one-semester 3-credit undergraduate course on linear control systems as the first course on this topic at university. This includes the faculties of electrical engineering, mechanical engineering, aerospace engineering, chemical and petroleum engineering, industrial engineering, civil engineering, bio-engineering, economics, mathematics, physics, management and social sciences, etc. The book covers foundations of linear control systems, their raison detre, different types, modelling, representations, computations, stability concepts, tools for time-domain and frequency-domain analysis and synthesis, and fundamental limitations, with an emphasis on frequency-domain methods. Every chapter includes a part on further readings where more advanced topics and pertinent references are introduced for further studies. The presentation is theoretically firm, contemporary, and self-contained. Appendices cover Laplace transform and differential equations, dynamics, MATLAB and SIMULINK, treatise on stability concepts and tools, treatise on Routh-Hurwitz method, random optimization techniques as well as convex and non-convex problems, and sample midterm and endterm exams. The book is divided to the sequel 3 parts plus appendices. PART I: In this part of the book, chapters 1-5, we present foundations of linear control systems. This includes: the introduction to control systems, their raison detre, their different types, modelling of control systems, different methods for their representation and fundamental computations, basic stability concepts and tools for both analysis and design, basic time domain analysis and design details, and the root locus as a stability analysis and synthesis tool. PART II: In this part of the book, Chapters 6-9, we present what is generally referred to as the frequency domain methods. This refers to the experiment of applying a sinusoidal input to the system and studying its output. There are basically three different methods for representation and studying of the data of the aforementioned frequency response experiment: these are the Nyquist plot, the Bode diagram, and the Krohn-Manger-Nichols chart. We study these methods in details. We learn that the output is also a sinusoid with the same frequency but generally with different phase and magnitude. By dividing the output by the input we obtain the so-called sinusoidal or frequency transfer function of the system which is the same as the transfer function when the Laplace variable s is substituted with . Finally we use the Bode diagram for the design process. PART III: In this part, Chapter 10, we introduce some miscellaneous advanced topics under the theme fundamental limitations which should be included in this undergraduate course at least in an introductory level. We make bridges between some seemingly disparate aspects of a control system and theoretically complement the previously studied subjects. Appendices: The book contains seven appendices. Appendix A is on the Laplace transform and differential equations. Appendix B is an introduction to dynamics. Appendix C is an introduction to MATLAB, including SIMULINK. Appendix D is a survey on stability concepts and tools. A glossary and road map of the available stability concepts and tests is provided which is missing even in the research literature. Appendix E is a survey on the Routh-Hurwitz method, also missing in the literature. Appendix F is an introduction to random optimization techniques and convex and non-convex problems. Finally, appendix G presents sample midterm and endterm exams, which are class-tested several times.
Book Synopsis Advanced Mechatronics by : Dan S. Necsulescu
Download or read book Advanced Mechatronics written by Dan S. Necsulescu and published by World Scientific. This book was released on 2009 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents issues regarding remote measurements and indirect monitoring and control of distributed systems in the general framework of ill-posed inverse problems. This book provides an overview of the main results in the inverse problem theory. It offers a presentation of basic results in discrete inverse theory.
Book Synopsis Advanced and Intelligent Control in Power Electronics and Drives by : Teresa Orłowska-Kowalska
Download or read book Advanced and Intelligent Control in Power Electronics and Drives written by Teresa Orłowska-Kowalska and published by Springer. This book was released on 2014-01-08 with total page 422 pages. Available in PDF, EPUB and Kindle. Book excerpt: Power electronics and variable frequency drives are continuously developing multidisciplinary fields in electrical engineering and it is practically not possible to write a book covering the entire area by one individual specialist. Especially by taking account the recent fast development in the neighboring fields like control theory, computational intelligence and signal processing, which all strongly influence new solutions in control of power electronics and drives. Therefore, this book is written by individual key specialist working on the area of modern advanced control methods which penetrates current implementation of power converters and drives. Although some of the presented methods are still not adopted by industry, they create new solutions with high further research and application potential. The material of the book is presented in the following three parts: Part I: Advanced Power Electronic Control in Renewable Energy Sources (Chapters 1-4), Part II: Predictive Control of Power Converters and Drives (5-7), Part III: Neurocontrol and Nonlinear Control of Power Converters and Drives (8-11). The book is intended for engineers, researchers and students in the field of power electronics and drives who are interested in the use of advanced control methods and also for specialists from the control theory area who like to explore new area of applications.
Book Synopsis Artificial Higher Order Neural Networks for Computer Science and Engineering: Trends for Emerging Applications by : Zhang, Ming
Download or read book Artificial Higher Order Neural Networks for Computer Science and Engineering: Trends for Emerging Applications written by Zhang, Ming and published by IGI Global. This book was released on 2010-02-28 with total page 660 pages. Available in PDF, EPUB and Kindle. Book excerpt: "This book introduces and explains Higher Order Neural Networks (HONNs) to people working in the fields of computer science and computer engineering, and how to use HONNS in these areas"--Provided by publisher.
Book Synopsis Flexible Manipulators by : Yanqing Gao
Download or read book Flexible Manipulators written by Yanqing Gao and published by Academic Press. This book was released on 2012-04-12 with total page 269 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Intelligent Systems Series comprises titles that present state-of-the-art knowledge and the latest advances in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications. Flexible manipulators play a critical role in applications in a diverse range of fields, such as construction automation, environmental applications, and space engineering. Due to the complexity of the link deformation and dynamics, the research effort on accurate modeling and high performance control of flexible manipulators has increased dramatically in recent years. This book presents analysis, data and insights that will of particular use for researchers and engineers working on the optimization and control of robotic manipulators and automation systems. Government and industry groups have specifically stressed the importance of innovation in robotics, manufacturing automation, and control systems for maintaining innovation and high-value-added manufacturing Discusses the latest research on the quantitative effects of size, shape, mass distribution, tip load, on the dynamics and operational performance of flexible manipulators Presents unique analyses critical to the effective modeling and optimization of manipulators: hard to find data unavailable elsewhere
Book Synopsis Advances in Smart Grid Automation and Industry 4.0 by : M. Jaya Bharata Reddy
Download or read book Advances in Smart Grid Automation and Industry 4.0 written by M. Jaya Bharata Reddy and published by Springer Nature. This book was released on 2021-04-21 with total page 793 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book comprises select proceedings of the International Conference on Emerging Trends for Smart Grid Automation and Industry 4.0 (ICETSGAI4.0 2019). The contents discuss the recent trends in smart grid technology and related applications. The topics covered include data analytics for smart grid operation and control, integrated power generation technologies, green technologies as well as advances in microgrid operation and planning. The book highlights the enhancement in technology in the field of smart grids, and how IoT, big data, robotics and automation, artificial intelligence, and wide area measurement have become prerequisites for the fourth industrial revolution, also known as Industry 4.0. The book can be a valuable reference for researchers and professionals interested in smart grid automation incorporating features of Industry 4.0.
Book Synopsis Formulation Tools for Pharmaceutical Development by : J E Aguilar
Download or read book Formulation Tools for Pharmaceutical Development written by J E Aguilar and published by Elsevier. This book was released on 2013-09-30 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: A range of new and innovative tools used for preformulation and formulation of medicines help optimize pharmaceutical development projects. Such tools also assist with the performance evaluation of the pharmaceutical process, allowing any potential gaps to be identified. These tools can be applied in both basic research and industrial environment. Formulation tools for pharmaceutical development considers these key research and industrial tools.Nine chapters by leading contributors cover: Artificial neural networks technology to model, understand, and optimize drug formulations; ME_expert 2.0: a heuristic decision support system for microemulsions formulation development; Expert system for the development and formulation of push-pull osmotic pump tablets containing poorly water-soluble drugs; SeDeM Diagram: an expert system for preformulation, characterization and optimization of tables obtained by direct compression; New SeDeM-ODT expert system: an expert system for formulation of orodispersible tablets obtained by direct compression; and 3D-cellular automata in computer-aided design of pharmaceutical formulations: mathematical concept and F-CAD software. - Coverage of artificial intelligence tools, new expert systems, understanding of pharmaceutical processes, robust development of medicines, and new ways to develop medicines - Development of drugs and medicines using mathematical tools - Compilation of expert system developed around the world
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1991 with total page 1380 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book PID Control written by Tamer Mansour and published by BoD – Books on Demand. This book was released on 2011-04-19 with total page 250 pages. Available in PDF, EPUB and Kindle. Book excerpt: The PID controller is considered the most widely used controller. It has numerous applications varying from industrial to home appliances. This book is an outcome of contributions and inspirations from many researchers in the field of PID control. The book consists of two parts; the first is related to the implementation of PID control in various applications whilst the second part concentrates on the tuning of PID control to get best performance. We hope that this book can be a valuable aid for new research in the field of PID control in addition to stimulating the research in the area of PID control toward better utilization in our life.
Book Synopsis Boundary Control of Flexible Three-Dimensional Euler–Bernoulli Beams by : Ning Ji
Download or read book Boundary Control of Flexible Three-Dimensional Euler–Bernoulli Beams written by Ning Ji and published by Springer Nature. This book was released on 2022-03-24 with total page 235 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on vibration suppression of flexible three-dimensional Euler–Bernoulli beams modeled by PDEs. Boundary control strategy and several control methods are proposed to stabilize the closed-loop system. Besides, some common engineering problems such as input constraint and output constraint are also considered in the control scheme design. This book offers a comprehensive introduction of the modeling process, controller design, stability analysis and numerical simulation. The detailed MATLAB codes in each chapter are also provided, which can make readers better understand the control flow of the system. This book is mainly targeted for researchers, senior undergraduate students and postgraduate students in the field of control theory and control engineering.
Book Synopsis Journal of Dynamic Systems, Measurement, and Control by :
Download or read book Journal of Dynamic Systems, Measurement, and Control written by and published by . This book was released on 2005 with total page 542 pages. Available in PDF, EPUB and Kindle. Book excerpt:
