Fourier-neural-network-based learning control for a class of nonlinear systems with flexible components

IEEE Transactions on Neural Networks

Volumn 20, Issue 1, 2009, Pages 139-151

  Zuo, Wei ^a   Zhu, Yang ^a   Cai, Lilong ^b  

^a HyFun Technology Limited   (Hong Kong)

^b HONG KONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Hong Kong)

Author keywords

Fourier neural network (FNN); Iterative learning control; Orthogonal activation function; Output feedback; Phase compensation

Indexed keywords

DELAY CONTROL SYSTEMS; EDUCATION; FEEDBACK; FOURIER TRANSFORMS; FREQUENCY DOMAIN ANALYSIS; FUNCTIONS; LEARNING ALGORITHMS; LEARNING SYSTEMS; NETWORK PERFORMANCE; NONLINEAR SYSTEMS; PROBABILITY DENSITY FUNCTION; TELECOMMUNICATION SYSTEMS; TIME DOMAIN ANALYSIS; TWO TERM CONTROL SYSTEMS;

FOURIER NEURAL NETWORK (FNN); ITERATIVE LEARNING CONTROL; ORTHOGONAL ACTIVATION FUNCTION; OUTPUT FEEDBACK; PHASE COMPENSATION;

NEURAL NETWORKS;

ALGORITHM; ARTICLE; ARTIFICIAL INTELLIGENCE; ARTIFICIAL NEURAL NETWORK; FEEDBACK SYSTEM; FOURIER ANALYSIS; NONLINEAR SYSTEM; PHYSICAL PHENOMENA; TIME;

ALGORITHMS; ARTIFICIAL INTELLIGENCE; FEEDBACK; FOURIER ANALYSIS; NEURAL NETWORKS (COMPUTER); NONLINEAR DYNAMICS; PHYSICAL PROCESSES; TIME FACTORS;

EID: 58849099905     PISSN: 10459227     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNN.2008.2006496     Document Type: Article

References (35)

1. M. W. Spong, "Adaptive control of flexible-joint manipulator," Syst. Control Lett., vol. 13, pp. 15-21, 1989.
2. W. Zhu, Z. Bien, and J. D. Schutter, "Adaptive motion/force control of multiple manipulators with joint flexibility based on virtual decomposition," IEEE Trans. Autom. Control, vol. 43, no. 1, pp. 46-60, Jan. 1998.
3. P. Tomei, "Tracking control of flexible joint robots with uncertain parameters and disturbances," IEEE Trans. Autom. Control, vol. 39, no. 5, pp. 1067-1072, May 1994.
4. M. M. Bridges, D. M. Dawson, Z. Qu, and S. C. Martindale, "Robust control of rigid-link flexible-joint robots with redundant joint actuators," IEEE Trans. Syst. Man Cybern., vol. 24, no. 7, pp. 961-970, Jul. 1994.
5. D. M. Dawson, Z. Qu, M. M. Bridges, and J. J. Carroll, "Robust tracking of rigid-link flexible-joint electrically-driven robots," presented at the 30th IEEE Conf. Decision Control, Brighton, U.K., 1991, unpublished.
6. X. Chen and T. Fukuda, "Robust sliding-mode tip position control for flexible arms," IEEE Trans. Ind. Electron., vol. 48, no. 6, pp. 1048-1056, Dec. 2001.
7. R. J. Wai and R. Y. Duan, "Wavelet neural network control for induction motor drive using sliding-mode design technique," IEEE Trans. Ind. Electron., vol. 50, no. 4, pp. 733-748, Aug. 2003.
8. J. Lin, "Multi-timescale fuzzy controller for a continuum with a moving oscillator," Inst. Electr. Eng. Proc. Control Theory Appl., vol. 151, pp. 310-318, 2004.
9. Y. C. Wang, C. J. Chien, and C. C. Teng, "Direct adaptive iterative learning control of nonlinear systems using an output-recurrent fuzzy neural network," IEEE Trans. Syst. Man Cybem. B. Cybern., vol. 34, no. 3, pp. 1348-1359, Jun. 2004.
10. J. Lin and Z. Z. Huang, "A hierarchical fuzzy approach to supervisory control of robot manipulators with oscillatory bases," IFAC Mechatronics, vol. 17, pp. 589-600, 2007.
11. F. L. Lewis, A. Yegildirek, and K. Liu, "Multilayer neural-net robot controller with guaranteed tracking performance," IEEE Trans. Neural Netw., vol. 7, no. 2, pp. 388-399, Mar. 1996.
12. W. Wang, C. Cheng, and Y. Leu, "An online GA-based output-feed-back direct adaptive fuzzy-neural controller for uncertain nonlinear systems," IEEE Trans. Syst. Man Cybern. B, Cybern., vol. 34, no. 1, pp. 334-345, Feb. 2004.
13. C. F. Hsu, "Self-organizing adaptive fuzzy neural control for a class of nonlinear systems," IEEE Trans. Neural Netw., vol. 18, no. 4, pp. 1232-1241, Jul. 2007.
14. R. J. Wai and J. D. Lee, "Adaptive fuzzy-neural-network control for maglev transportation systems," IEEE Trans. Neural Netw., vol. 19, no. 1, pp. 54-70, Jan. 2008.
15. L. B. Gutierrez, F. L. Lewis, and J. A. Lowe, "Implementation of a neural network tracking controller for a single flexible link: Comparison with PD and PID controllers," IEEE Trans. Ind. Electron. vol. 45, no. 2, pp. 307-318, Apr. 1998.
16. L. Tian, J. Wang, and Z. Mao, "Constrained motion control of flexible robot manipulators based on recurrent neural networks," IEEE Trans. Syst. Man Cybern. B. Cybern., vol. 34, no. 3, pp. 1541-1552, Jun. 2004.
17. S. Arimoto, S. Kawamura, and F. Miyazaki, "Bettering operation of robots by learning," J. Robot. Syst., vol. 1, pp. 706-712, 1984.
18. W. Huang, L. Cai, and X. Tang, "Decentralized learning control for robot manipulators," in Proc. IEEE Int. Conf. Robot. Autom., Detroit, MI, May 1999, vol. 2, pp. 843-848.
19. S. Gunnarsson, M. Norrlof, E. Rahic, and M. Oabek, "Iterative learning control of a flexible robot arm using accelerometers," in Proc. IEEE Int. Conf. Control Appl., Taipei, Taiwan, Sep. 2004, vol. 2, pp. 1012-1016.
20. X. Ruan, "Decentralized iterative learning control to large-scale industrial processes for nonrepetitive trajectory tracking," IEEE Trans. Syst. Man Cybern. A, Syst. Humans, vol. 38, no. 1, pp. 238-252, Jan. 2008.
21. H. S. Ahn, Y. Q. Chen, and K. L. Moore, "Iterative learning control: Brief survey and categorization," IEEE Trans. Syst. Man Cybern. C, Appl. Rev., vol. 37, no. 6, pp. 1099-1121, Nov. 2007.
22. L. Cai and W. Huang, "Fourier series based learning control and application to positioning table," Robot. Autonom. Syst., vol. 32, pp. 89-100, 1999.
23. X. Tang, L. Cai, and W. Q. Huang, "A learning controller for robot manipulators using Fourier series," IEEE Trans. Robot. Autom., vol. 16, no. 1, pp. 36-45, Feb. 2000.
24. W. Zuo and L. Cai, "Tracking control of nonlinear systems using Fourier neural network," in Proc. IEEE/ASME Int. Conf. Adv. Intell. Mechatron., Monterey, CA, Jul. 2005, pp. 670-675.
25. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control. New York: Wiley, 1989.
26. Z. Yang and L. Cai, "Tracking control of a belt-driven position table using Fourier series based learning control scheme," in Proc. IEEE Int. Conf. Robot. Intell. Syst. Signal Process., Changsha, China, Oct. 2003, vol. 1, pp. 196-201.
27. S. Yang and M. Tomizuka, "Adaptive pulse width control for precise positioning under the influence of stiction and Coulomb friction," J. Dyn. Syst. Meas. Control, vol. 110, pp. 221-227, 1988.
28. B. Armstrong-Helouvry, P. Dupont, and C. C. d. Wit, "A survey of models, analysis tools, and compensation methods for control of machines with friction," Automatica, vol. 30, pp. 1083-1138, 1994.
29. C. C. d. Wit, H. Olsson, K. J. Astrom, and P. Lischinsky, "A new model for control of systems with friction," IEEE Trans. Autom. Control vol. 40, no. 3, pp. 419-425, Mar. 1995.
30. W. Huang and L. Cai, "New hybrid controller for systems with deterministic uncertainties," IEEE/ASME Trans. Mechatron., vol. 5, no. 4, pp. 342-348, Dec. 2000.
31. R. C. Dorf and R. H. Bishop, Modern Control Systems, 10th ed. Englewood Cliffs, NJ: Prentice-Hall, 2005.
32. S. Lin and A. A. Goldenberg, "Neural network control of mobile manipulators," IEEE Trans. Neural Netw., vol. 12, no. 5, pp. 1121-1133, Sep. 2001.
33. J. Huang and F. L. Lewis, "Neural-network predictive control for non-linear dynamic systems with time-delay," IEEE Trans. Neural Netw., vol. 14, no. 2, pp. 377-389, Mar. 2003.
34. W. Duch and J. N., "Survey of neural transfer functions," Neural Comput. Surv., vol. 2, pp. 163-212, 1999.
35. F. Lewis and S. Jagannathan, Neural Network Control of Robotic Manipulators and Nonlinear Systems. London, U.K.: Taylor & Francis, 1999.