Summary
A neural network (NN) tracking controller was implemented on a single flexible link and the performance results of the neural network controller were compared to that of proportional derivative (PD) and proportional integral derivative (PID) standard controllers. The NN controller is composed of an outer PD tracking loop, a singular perturbation inner loop for stabilization of the fast flexible-mode dynamics, and an NN inner loop used to feedback linearize the slow pointing dynamics. No off-line training or learning is needed for the NN. It is shown that the tracking performance of the NN controller is far better than that of the PD or PID standard controllers. An extra friction term was added in the tests to demonstrate the ability of the NN to learn unmodeled nonlinear dynamics.
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Related publications
[1] L. B. Gutiérrez, F. L. Lewis, and J. A. Lowe, “Implementation of a neural network tracking controller for a single flexible link: comparison with PD and PID controllers,” IEEE Transactions on Industrial Electronics, vol. 45, pp. 307–318, April 1998. Available: https://ieeexplore.ieee.org/document/681230, ISSN: 1557-9948, doi: https://doi.org/10.1109/41.681230. pdf
[2] L. B. Gutiérrez and F. L. Lewis, “Implementation of a neural net tracking controller for a single flexible link: comparison with PD and PID controllers,” in Proc. 1997 American Control Conference, (Albuquerque, NM, USA), pp. 657–661, IEEE, June 6, 1997. Available: https://ieeexplore.ieee.org/document/611882, ISBN:0-7803-3832-4, ISSN: 0743-1619, doi: https://doi.org/10.1109/ACC.1997.611882. pdf
[3] L. B. Gutiérrez and F. L. Lewis, “Implementación de un controlador de seguimiento con redes neuronales para un brazo flexible sencillo: comparación con controladores PD y PID,” in 2o Congreso de la Asociacion Colombiana de Automatica, (Bucaramanga, Colombia), pp. 200-216, Asociación Colombiana de Automática, Marzo 19-22, 1997. pdf
[4] L. B. Gutiérrez, “Implementation of a neural network tracking controller for a single flexible link: comparison with PD and PID controllers,” Master’s thesis, The University of Texas at Arlington, Department of Electrical Engineering, Arlington, TX, USA, August 1996. pdf