Nonlinear controlling of artificial muscle system with neural networks

被引：0

作者：

Tian, SP ^{[1
]}

Ding, GQ ^{[1
]}

Yan, DT ^{[1
]}

Lin, LM ^{[1
]}

Shi, M ^{[1
]}

机构：

[1] Shanghai Jiao Tong Univ, Dept Informat Measurement & Instrumentat, Shanghai 200030, Peoples R China

来源：

IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics | 2004年

关键词：

artificial muscle; neural networks; recursive prediction error algorithm; nonlinear modeling and controlling;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The pneumatic artificial muscles are widely used in the fields of medical robots and etc. Neural networks are applied to modeling and controlling, of artificial muscle system. A single-joint artificial muscle test system is designed. The recursive prediction error (RPE) algorithm which yields faster convergence than back propagation (BP) algorithm is applied to train the neural networks. The realization of RPE algorithm is given. The difference of modeling of artificial muscles using neural networks with different input nodes and different hidden layer nodes is discussed. On this basis the nonlinear control scheme using neural networks for artificial muscle system has been introduced. The experimental results show that the nonlinear control scheme yields faster response and higher control accuracy than the traditional linear control scheme.

引用

页码：56 / 59

页数：4

共 6 条

[1] A COMPARISON OF THE BACKPROPAGATION AND RECURSIVE PREDICTION ERROR ALGORITHMS FOR TRAINING NEURAL NETWORKS [J].