System Identification and Control of Space Explorer Robot Arm Using Neural Network, M.Sc. Thesis Sharif University of Technology ; Asadian, Nima (Supervisor)
Abstract
In this study, two conventional methods for controlling flexible two-link robots based on artificial neural networks is improved. The first method is implemented by combining fuzzy logic and reinforcement learning in the form of a neural network. This method is modified in two steps. In the first step, the system feedback is changed and in the second step, the system Jacobin is used. This Jacobin can be the result of system identification. In the second method, an optimal controller is proposed for the system, which is also implemented in the form of a neural network. The performance of the neural-optimal controller is further improved by redefining the Bellman's principle of optimality....
Cataloging briefSystem Identification and Control of Space Explorer Robot Arm Using Neural Network, M.Sc. Thesis Sharif University of Technology ; Asadian, Nima (Supervisor)
Abstract
In this study, two conventional methods for controlling flexible two-link robots based on artificial neural networks is improved. The first method is implemented by combining fuzzy logic and reinforcement learning in the form of a neural network. This method is modified in two steps. In the first step, the system feedback is changed and in the second step, the system Jacobin is used. This Jacobin can be the result of system identification. In the second method, an optimal controller is proposed for the system, which is also implemented in the form of a neural network. The performance of the neural-optimal controller is further improved by redefining the Bellman's principle of optimality....
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