Decentralized Identification and Control in Real-Time of a Robot Manipulator via Recurrent Wavelet First-Order Neural Network
Joint Authors
Jurado, Francisco
Vázquez, Luis A.
Alanis, Alma Y.
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-18
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
A decentralized recurrent wavelet first-order neural network (RWFONN) structure is presented.
The use of a wavelet Morlet activation function allows proposing a neural structure in continuous time of a single layer and a single neuron in order to identify online in a series-parallel configuration, using the filtered error (FE) training algorithm, the dynamics behavior of each joint for a two-degree-of-freedom (DOF) vertical robot manipulator, whose parameters such as friction and inertia are unknown.
Based on the RWFONN subsystem, a decentralized neural controller is designed via backstepping approach.
The performance of the decentralized wavelet neural controller is validated via real-time results.
American Psychological Association (APA)
Vázquez, Luis A.& Jurado, Francisco& Alanis, Alma Y.. 2015. Decentralized Identification and Control in Real-Time of a Robot Manipulator via Recurrent Wavelet First-Order Neural Network. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1073859
Modern Language Association (MLA)
Vázquez, Luis A.…[et al.]. Decentralized Identification and Control in Real-Time of a Robot Manipulator via Recurrent Wavelet First-Order Neural Network. Mathematical Problems in Engineering No. 2015 (2015), pp.1-12.
https://search.emarefa.net/detail/BIM-1073859
American Medical Association (AMA)
Vázquez, Luis A.& Jurado, Francisco& Alanis, Alma Y.. Decentralized Identification and Control in Real-Time of a Robot Manipulator via Recurrent Wavelet First-Order Neural Network. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1073859
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073859
