Adaptive Neural Network Controller Design for a Blended-Wing UAV with Complex Damage

2018 ◽  
Vol 46 (2) ◽  
pp. 141-149
Author(s):  
Kijoon Kim ◽  
Jongmin Ahn ◽  
Seungkeun Kim ◽  
Jinyoung Suk
Keyword(s):  
Neural Network ◽  
Controller Design ◽  
Adaptive Neural Network ◽  
Neural Network Controller ◽  
Network Controller

Adaptive Neural Network Controller Design for Flexible Joint Robots using Singular Perturbation Technique

1995 ◽  
Vol 17 (3) ◽  
pp. 120-131 ◽  
Author(s):  
Shuzhi S. Ge ◽  
Ian Postlethwaite
Keyword(s):  
Neural Network ◽  
Singular Perturbation ◽  
Controller Design ◽  
Perturbation Technique ◽  
Adaptive Neural Network ◽  
Singular Perturbation Technique ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Neural Network Controller ◽  
Network Controller

In this paper, an adaptive neural network controller is presented for flexible joint robots using Singular Perturbation techniques by modelling the elastic forces as the fast variables and link variables as slow variables. The neural network controller is to control the slow dynamics in order to eliminate the tedious preliminary computation of the regressor matrix. Unlike many neural network (NN) controllers in the literature, inverse dynamical model evaluation is not required and no time-consuming training process is necessary except for initialising the NNs based on approximate function values at the initial posture at time t = 0. It can be shown that the controller can control the system successfully by intensive computer simulation tests.

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