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Abstract
For overcomes several shortcomings of the inverse
control design to controlling nonlinear systems using the
neural networks as the controller based self tuning
regulator. The one link manipulator parameters are
estimated online and are used to update the weights of
the RBFNN. The weight update equations are derived
based on the least mean squares principle. The RBFNN
virtually models the inverse of the plant and thus the
output tracks the reference trajectory. The proposed
algorithm is successfully verified using simulations.
Then, this paper compared its result with the outcome of
using proportional-plus-integral feedback (PI) self
tuning regulator.
Keywords: STR, RBFNN, ARX, LMS, arm robot
1 INTRODUCTION
Adaptive inverse control method has received much
attention in recent years. But its main problem, when
applied to controlling nonlinear systems, is how to adapt
the inverse controller. The adaptive inverse control
system based neural network can achieve good
performance. The basic idea of adaptive inverse control
is to drive the plant with a signal from a controller
whose transfer function is the inverse of that of the plant
itself. The objective of this system is to cause the plant
output to follow the command input. Since the plant is
generally unknown, it is necessary to adapt or to adjust
the parameters of the controller in order to create a true
plant inverse. An error signal, the difference between the
plant output and the command input, is used by an
adaptive algorithm to adjust the controllers parameters
to minimize the mean square of this error [1].
In many practical applications it is, however, difficult
to determine the parameters of the controller, since the
dynamics of the process and its disturbances are
unknown [2, 3]. The parameters of the process thus have
to be estimated. For stationary processes it is possible to
determine
the
unknown
parameters
through
identification. The experiments and their evaluations
can, however, be rather time consuming. It is thus
desirable to have a regulator which tunes its parameters
on-line [4]. The purpose of self-tuning regulators (STR)
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69
International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882
Volume 4 Issue 2, February 2015
DERIVATION OF EQUATIONS OF
MOTION FOR ACTUATED ONE-LINK
MANIPULATOR
L 12 mv 2 mgh
L 1 ml 2 2 mgl sin
2
(4)
(5)
d L L
dt
(6)
L
mgl cos
d L
ml 2
dt
L
ml 2
(t ) n (t ) (t )
(t ) n (t ) (t )
Where (t ) represents a small quantity. It is natural to
(t ) n (t ) (t )
(t ) n (t ) (t )
Abstract
n f ( n ,n , n ,n )
The righthand side can be expanded into a Taylor series about the
nominal system trajectory and input, which produces
(t ) a1 (t ) a 0 (t ) b1 (t ) b0 (t )
Where
the corresponding coefficients are evaluated at the
nominal points as
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70
International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882
Volume 4 Issue 2, February 2015
f ( n ,n , n ,)
0
f ( n ,n , n ,)
g
a0
sin n
l
f ( n ,n , n ,)
b1
0
f ( n , n , n ,)
1
b0
2
ml
a1
1
1
V RKm ((J m g r g r ml 2 )
1
1
( Bm g r K m R 1 K b g r g r k 2 )
g
l
ml 2
K mi
(11)
Where V is the armature voltage of the motor, R and
L are armature equivalent resistance and inductance,
respectively,
m g r
(8)
di
d
V Ri L Kb r
dt
dt
J m r Bm r m
g r (k1 mLg) )
(13)
PROPOSED STRUCTURE
y (t ) ai y (t i ) b j x(t j ) (14)
i 1
j 1
Bq b1q b2 q bm q m
1
Aq 1 a1q 1 a2 q 2 an q n
Or in terms of q 1 operator
y (t )
B ( q 1 ) d
q x (t )
A(q 1 )
(15)
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71
International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882
Volume 4 Issue 2, February 2015
w , , w
n0
through some weights 1
.
Each neuron finds the distance d of the input and its
center and passes the resulting scalar through
nonlinearity. So the output of the hidden neuron is given
by [10, 20]
(d ) exp( 12 d 2 )
exp( r (t ) ci )
2
1
2
(16)
( K 1) ( K )
I
( K )
(20)
I
W ( K 1) W ( K )
W ( K )
PI ( K 1) PI ( K )
r (t ) cn0
r (t ) c1
1
2
th
ci is the center of i
hidden layer node
where i 1,2,, n0 , is the norm matrix and (.) is
(21)
I
PI ( K )
(22)
Where a1 an b1 bm is the parameter
vector,
RBFNN,
W w1 w2 wn0
PI k p
is the learning
(t ) (t 1) (t n) V (t d ) V (t m d )
n0
x(t ) wi ( r (t ) ci )
(17)
i 1
and
finding
partial derivatives.
I 1 e 2 (t )
(23)
2
(24)
e(t ) (r (t ) (t ))
1
n
r (t ) a1q an q (t )
e(t )
b1q 1 bm q m q d V (t )
I
(25)
e(t ) (t )
( K 1) ( K ) e(t ) (t ) (26)
I 12 e 2 (t )
e(t ) r (t ) (t )
(18)
I
1 e 2 (t )
(27)
W 2 W
B(q 1 ) d
r (t )
(28)
e(t )
q V (t )
1
W
A(q )
I
e(t ) B(q 1 )q d (t )
W
(29)
W ( K 1) W ( K ) e(t ) B(q 1 )q d (t )
But the final coefficients update equation of PI will be,
PI ( K 1) PI ( K ) e(t ) B(q 1 )q d
(V (t 1) (t s 1)V (t ))
(19)
sample time.
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ts
is the
72
International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882
Volume 4 Issue 2, February 2015
SIMULATION RESULTS
arm robot input & output
1
0.5
0
-0.5
-1
50
100
-5
-1
250
300
400
450
50
100
200
250
300
350
400
450
50
100
position (q)
150
450
500
200
250
time(sec)
300
350
400
450
500
350
400
450
500
350
400
450
500
350
400
450
500
-0.5
0
50
100
150
200
250
300
x 10
0.5
500
500
50
100
150
x 10
400
-1
150
350
0.5
100
300
50
250
-0.5
-10
200
(a)
150
10
-2
500
15
-1
350
450
20
1
200
400
parameters evolution
150
350
x 10
-5
100
300
-0.5
50
250
200
0.5
-2
150
200
250
300
parameters evolution
20
0.5
0
-0.5
15
0
50
100
150
200
250
300
350
400
450
500
10
parameters evolution
50
0
-50
50
100
150
200
250
time(sec)
300
350
400
450
50
100
150
200
250
time(sec)
300
500
(b)
Fig. 5 the output of radial basis self-tuning actuated one
link manipulator system for a different sinusoidal wave
reference
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73
International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882
Volume 4 Issue 2, February 2015
-2
50
100
150
200
250
300
350
400
450
-1
500
50
100
150
position (q)
position (q)
250
300
350
400
450
500
300
350
400
450
500
350
400
450
500
350
400
450
500
2
0
-2
200
50
100
-10
150
200
250
300
350
400
450
0
-1
500
50
100
150
200
250
x 10
0.5
0
-0.5
0
50
100
150
200
250
300
350
400
450
-2
500
50
100
150
50
10.012
10.01
-50
50
100
150
200
250
time(sec)
300
200
250
300
parameters evolution
parameters evolution
350
400
450
10.008
500
(a)
50
100
150
200
250
time(sec)
300
0.5
-2
50
100
150
200
250
300
350
400
450
500
-0.5
position (q)
-1
0
50
100
150
200
250
300
350
400
450
500
350
400
450
500
350
400
450
500
0.05
0
50
100
-10
150
200
250
300
350
400
450
500
x 10
0.5
0
-0.5
-0.05
0
50
100
150
200
250
300
350
400
450
500
50
100
150
parameters evolution
200
250
300
parameters evolution
200
10.0106
10.0104
10.0102
-200
50
100
150
200
250
time(sec)
300
350
400
450
500
10.01
10.0098
(b)
Fig. 6 Simulation Results for radial-basis self-tuning
actuated robot system output disturbance (a) 0.05 sin(t )
(b) 0.5 sin(t )
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50
100
150
200
250
time(sec)
(a)
300
74
International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882
Volume 4 Issue 2, February 2015
0.5
0.5
-0.5
-0.5
-1
50
100
150
200
250
300
350
400
450
-1
500
50
100
-3
150
200
250
300
350
400
450
500
350
400
450
500
350
400
450
500
x 10
0.5
0
0
-0.5
-0.05
50
100
150
200
250
300
350
400
450
-1
500
50
100
150
parameters evolution
200
250
300
parameters evolution
10.012
11
10
10.011
9
10.01
10.009
8
0
50
100
150
200
250
time(sec)
300
350
400
450
500
(b)
Fig. 8 the output of PI self-tuning actuated one link
manipulator system for a sine wave reference with
different frequency
100
150
200
250
300
350
400
450
x 10
0.5
0
-0.5
-1
50
100
150
200
250
300
350
400
450
250
time(sec)
300
CONCLUSIONS
500
-0.5
50
200
-3
150
500
0.5
100
-1
50
parameters evolution
10.015
10.01
10.005
10
0
50
100
150
200
250
time(sec)
300
350
400
450
REFERENCES
500
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International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882
Volume 4 Issue 2, February 2015
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