Implementation of N-step-ahead neurocontrol on a 3-axes heavy duty hydraulic manipulator

Hountras, A; Antoniadis, I; Kanarachos, A

dc.contributor.author	Hountras, A	en
dc.contributor.author	Antoniadis, I	en
dc.contributor.author	Kanarachos, A	en
dc.date.accessioned	2014-03-01T01:14:43Z
dc.date.available	2014-03-01T01:14:43Z
dc.date.issued	1999	en
dc.identifier.issn	0957-4158	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/13198
dc.subject	Back Propagation	en
dc.subject	Control Method	en
dc.subject	Penalty Function	en
dc.subject	Neural Network	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.classification	Engineering, Mechanical	en
dc.subject.other	Backpropagation	en
dc.subject.other	Control system analysis	en
dc.subject.other	Control system synthesis	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	Manipulators	en
dc.subject.other	Neural networks	en
dc.subject.other	Chain backpropagations	en
dc.subject.other	Three-axes heavy duty hydraulic manipulators	en
dc.subject.other	Mechatronics	en
dc.title	Implementation of N-step-ahead neurocontrol on a 3-axes heavy duty hydraulic manipulator	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/S0957-4158(98)00046-4	en
heal.identifier.secondary	http://dx.doi.org/10.1016/S0957-4158(98)00046-4	en
heal.language	English	en
heal.publicationDate	1999	en
heal.abstract	An N-step-ahead control method called Chain-Back-Propagation (CBP) is presented. The method is a systematic integration and extension of the truck-backer-upper example. It uses a pair of neural networks, various global and chain-local penalty functions and convergence control limitations. The CBP method is implemented on a rear-world hydraulic Cartesian 3-DOF heavy duty manipulator. The results, compared to conventional and extended PD control, are quite satisfactory, indicating improved accuracy and faster response. (C) 1998 Elsevier Science Ltd. All rights reserved.	en
heal.publisher	Elsevier Science Ltd, Exeter, United Kingdom	en
heal.journalName	Mechatronics	en
dc.identifier.doi	10.1016/S0957-4158(98)00046-4	en
dc.identifier.isi	ISI:000079940600002	en
dc.identifier.volume	9	en
dc.identifier.issue	3	en
dc.identifier.spage	235	en
dc.identifier.epage	270	en