Decentralized Neural Block Control for a Robot Manipulator based in UKF training

Guerra, Juan; Garcia-Hernandez, Ramon; Llama, Miguel A.

doi:10.1109/conielecomp.2019.8673185

Cited by 3 publications

(2 citation statements)

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“…However, 2DOF systems are highly nonlinear, with strong interconnections and dynamic behaviors. Robot manipulators are examples of nonlinear complex dynamics with strong interconnections, parameters and dynamics that are difficult to measure and to model [4]. One of the non-linearities can be present when the motor rotor is positioned anywhere in the dead zone for the equilibrium position.…”

Section: Introductionmentioning

confidence: 99%

“…In recent work, an identification algorithm similar to the EKF algorithm was used to approximate the dynamics in discrete time, with a 2DOF manipulator robot. In [4] a robot dynamics is analyzed for a 2DOF manipulator robot using an unscented Kalman filter in a parallel series configuration as the learning algorithm. In this it was not necessary to know the parameters of the plant or external disturbances.…”

Section: Introductionmentioning

confidence: 99%

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Design and Implementation of a Real Time Control System for a 2DOF Robot Based on Recurrent High Order Neural Network Using a Hardware in the Loop Architecture

et al. 2021

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In this paper, a real-time implementation of a sliding-mode control (SMC) in a hardware-in-loop architecture is presented for a robot with two degrees of freedom (2DOF). It is based on a discrete-time recurrent neural identification method, as well as the high performance obtained from the advantages of this architecture. The identification process uses a discrete-time recurrent high-order neural network (RHONN) trained with a modified extended Kalman filter (EKF) algorithm. This is a method for calculating the covariance matrices in the EKF algorithm, using a dynamic model with the associated and measurement noises, and it increases the performance of the proposed methodology. On the other hand, the decentralized discrete-time SMC technique is used to minimize the motion error. A Virtex 7 field programmable gate array (FPGA) is configured based on a hardware-in-loop real-time implementation to validate the proposed controller. A series of several experiments demonstrates the robustness of the algorithm, as well as its immunity to noise and the inherent robustness to external perturbation, as are typically found in the input reference signals of a 2DOF manipulator robot.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%