PD-SVM Integrated Controller for Robotic Manipulator Tracking Control
Joint Authors
Source
Chinese Journal of Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-02-03
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Engineering Sciences and Information Technology
Abstract EN
Highly precise tracking of a robotic manipulator in presence of uncertainties like noise, disturbances, and friction has been addressed in this particular paper.
An integrated proportional derivative and support vector machine (SVMPD) controller has been proposed for manipulator tracking.
To illustrate the efficiency of the proposed controller, simulations have been done on a 2-DOF manipulator system.
Performance of the proposed controller has been checked and verified with respect to to a simple PID controller and the radial bias neural network proportional integral derivative (RBNNPD) controller.
It has been proved that the proposed controller can achieve better tracking performance as compared to other controllers as the range of errors is less and the time taken by the controller has reduced up to 14 times as compared to RBNN.
American Psychological Association (APA)
Kapoor, Neha& Ohri, Jyoti. 2014. PD-SVM Integrated Controller for Robotic Manipulator Tracking Control. Chinese Journal of Engineering،Vol. 2014, no. 2014, pp.1-6.
https://search.emarefa.net/detail/BIM-461210
Modern Language Association (MLA)
Kapoor, Neha& Ohri, Jyoti. PD-SVM Integrated Controller for Robotic Manipulator Tracking Control. Chinese Journal of Engineering No. 2014 (2014), pp.1-6.
https://search.emarefa.net/detail/BIM-461210
American Medical Association (AMA)
Kapoor, Neha& Ohri, Jyoti. PD-SVM Integrated Controller for Robotic Manipulator Tracking Control. Chinese Journal of Engineering. 2014. Vol. 2014, no. 2014, pp.1-6.
https://search.emarefa.net/detail/BIM-461210
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-461210