Design of Neural Network Controllers for the Horizontal Positioning of an Industrial Manipulator

Abstract:

This paper presents the design of neural network controllers for the electro-hydraulically driven positioning system of an industrial manipulator. The manipulator is represented by an unloading machine that extracts the billets from a rotary hearth furnace. The design of a Narma-L2 controller and a Model-reference controller is presented. Neural network controllers can be used for the modeling and control of dynamical systems as long as a suitable neural network is chosen. The obtained controllers are compared on the basis of overall performances. The assessment of the results is done by means of simulation.

• Periodical: Applied Mechanics and Materials (Volume 555)
• Pages: 281-287
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.555.281
• Online since: June 2014
• Authors: Iulia Clitan*, Mihai Abrudean, Vlad Mureşan
• Keywords: Hydraulic Positioning System, Industrial Manipulator, Model-Reference Controller, Narma-L2 Controller, Neural Network Controllers

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