Tracking of periodic oscillations in an underactuated system via adaptive neural networks
In this paper, the tracking control of periodic oscillations in an underactuated mechanical system is discussed. The proposed scheme is derived from the feedback linearization control technique and adaptive neural networks are used to estimate the unknown dynamics and to compensate uncertainties. Th...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2018-03-01
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| Series: | Journal of Low Frequency Noise, Vibration and Active Control |
| Online Access: | https://doi.org/10.1177/1461348417752988 |
| _version_ | 1818150336272007168 |
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| author | Sergio A Puga-Guzmán Carlos Aguilar-Avelar Javier Moreno-Valenzuela Víctor Santibáñez |
| author_facet | Sergio A Puga-Guzmán Carlos Aguilar-Avelar Javier Moreno-Valenzuela Víctor Santibáñez |
| author_sort | Sergio A Puga-Guzmán |
| collection | DOAJ |
| description | In this paper, the tracking control of periodic oscillations in an underactuated mechanical system is discussed. The proposed scheme is derived from the feedback linearization control technique and adaptive neural networks are used to estimate the unknown dynamics and to compensate uncertainties. The proposed neural network-based controller is applied to the Furuta pendulum, which is a nonlinear and nonminimum phase underactuated mechanical system with two degrees of freedom. The new neural network-based controller is experimentally compared with respect to its model-based version. Results indicated that the proposed neural algorithm performs better than the model-based controller, showing that the real-time adaptation of the neural network weights successfully estimates the unknown dynamics and compensates uncertainties in the experimental platform. |
| first_indexed | 2024-12-11T13:21:19Z |
| format | Article |
| id | doaj.art-a55c0fee7c8b4629b94e62a14e1dd1e5 |
| institution | Directory Open Access Journal |
| issn | 1461-3484 2048-4046 |
| language | English |
| last_indexed | 2024-12-11T13:21:19Z |
| publishDate | 2018-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Journal of Low Frequency Noise, Vibration and Active Control |
| spelling | doaj.art-a55c0fee7c8b4629b94e62a14e1dd1e52022-12-22T01:05:48ZengSAGE PublishingJournal of Low Frequency Noise, Vibration and Active Control1461-34842048-40462018-03-013710.1177/1461348417752988Tracking of periodic oscillations in an underactuated system via adaptive neural networksSergio A Puga-GuzmánCarlos Aguilar-AvelarJavier Moreno-ValenzuelaVíctor SantibáñezIn this paper, the tracking control of periodic oscillations in an underactuated mechanical system is discussed. The proposed scheme is derived from the feedback linearization control technique and adaptive neural networks are used to estimate the unknown dynamics and to compensate uncertainties. The proposed neural network-based controller is applied to the Furuta pendulum, which is a nonlinear and nonminimum phase underactuated mechanical system with two degrees of freedom. The new neural network-based controller is experimentally compared with respect to its model-based version. Results indicated that the proposed neural algorithm performs better than the model-based controller, showing that the real-time adaptation of the neural network weights successfully estimates the unknown dynamics and compensates uncertainties in the experimental platform.https://doi.org/10.1177/1461348417752988 |
| spellingShingle | Sergio A Puga-Guzmán Carlos Aguilar-Avelar Javier Moreno-Valenzuela Víctor Santibáñez Tracking of periodic oscillations in an underactuated system via adaptive neural networks Journal of Low Frequency Noise, Vibration and Active Control |
| title | Tracking of periodic oscillations in an underactuated system via adaptive neural networks |
| title_full | Tracking of periodic oscillations in an underactuated system via adaptive neural networks |
| title_fullStr | Tracking of periodic oscillations in an underactuated system via adaptive neural networks |
| title_full_unstemmed | Tracking of periodic oscillations in an underactuated system via adaptive neural networks |
| title_short | Tracking of periodic oscillations in an underactuated system via adaptive neural networks |
| title_sort | tracking of periodic oscillations in an underactuated system via adaptive neural networks |
| url | https://doi.org/10.1177/1461348417752988 |
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