U ovome redu predstavljen je neuro-adaptivni regulator za žično pogonjene paralelne robote. Robusni neuro-adaptivni regulator sastoji se od računalnog regulatora i robusnog regulatora. Računalni regulator koji sadrži estimator s neuronskom mrežom s radijalnom aktivacijskom funkcijom je glavni regulator u "on-line" metoda podešavanja parametara neuronske mreže za estimaciju dinamike sustava upravljanja. Efikasnost sustava adaptivnog, robusnog regulatora testirana je na na žično pogonjenom paralelnom robotu. Simulacijski rezultati pokazuju da se predloženim robusnim i adaptivnim regulatorom mogu dobiti zadovoljavajuće performance prilikom slijeđenja. ; In this study, a robust neuro-adaptive controller for cable-driven parallel robots is proposed. The robust neuro-adaptive control system is comprised of a computation controller and a robust controller. The computation controller containing a neural-network-estimator with radial basis function activator is the principal controller and the robust controller is designed to achieve tracking performance. An on-line tuning method is derived to tune the parameters of the neural network for estimating the controlled system dynamic function. To investigate the effectiveness of the robust adaptive control, the design methodology is applied to control a cable-driven parallel robot. Simulation results demonstrate that the proposed robust adaptive control system can achieve favorable tracking performances for the robot.


    Access

    Download


    Export, share and cite



    Title :

    Dizajn robusnog neuro-adaptivnog regulatora za žično pogonjene paralelne robote ; On The Design of The Robust Neuro-Adaptive Controller for Cable-driven Parallel Robots


    Contributors:

    Publication date :

    2017-03-23


    Remarks:

    Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije ; ISSN 0005-1144 (Print) ; ISSN 1848-3380 (Online) ; Volume 57 ; Issue 3


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Adaptive Neuro-Fuzzy Controller

    Kishan Kumar Kumbla / Jamshidi, M. / Rodrieguiz, S. | British Library Conference Proceedings | 1997



    A Full Authority Helicopter Adaptive Neuro-Controller

    Leitner, J. / Calise, A. / Prasad, J. V. et al. | British Library Conference Proceedings | 1998


    A full authority helicopter adaptive neuro-controller

    Leitner, J. / Calise, A. / Prasad, J.V.R. | Tema Archive | 1998