An adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators

Quang Dan Le; Hee-Jun Kang

doi:10.1007/978-3-319-63315-2_1

An adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators

Quang Dan Le, Hee-Jun Kang

Design, Manufacturing And Engineering Management

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book

4 Citations (Scopus)

Abstract

This paper proposes an adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators. The controller is designed based on the combination of computed torque method with position synchronization technique and orthogonal neural network. By using the orthogonal neural network with online turning gains can overcome the drawbacks of the traditional feedforward neural network such as initial values of weights, number of processing elements, slow convergence speed and the difficulty of choosing learning rate. To evaluate the effectiveness of the proposed control strategy, simulations were conducted by using the combination of SimMechanics and Solidworks. The tracking control results of the parallel manipulators were significantly improved in comparison with the performance when applying non-synchronization controllers.

Original language	English
Title of host publication	13th International Conference, ICIC 2017, Liverpool, UK, August 7-10, 2017, Proceedings, Part III 13
Subtitle of host publication	13th International Conference, ICIC 2017 Liverpool, UK, August 7–10, 2017 Proceedings, Part III
Editors	De-Shuang Huang, Kyungsook Han, M. Michael Gromiha
Place of Publication	Cham
Publisher	Springer
Pages	3-14
Number of pages	12
ISBN (Electronic)	9783319633152
ISBN (Print)	9783319633145
DOIs	https://doi.org/10.1007/978-3-319-63315-2_1
Publication status	Published - 21 Jul 2017

Publication series

Name	Lecture Notes in Artificial Intelligence
Volume	10363
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Funding

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2016R1D1A3B03930496).

Keywords

planar parallel manipulator
position synchronization controller
adaptive controller
an orthogonal neural network
online self-turning

Access to Document

10.1007/978-3-319-63315-2_1

Cite this

Le, Q. D., & Kang, H.-J. (2017). An adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators. In D.-S. Huang, K. Han, & M. M. Gromiha (Eds.), 13th International Conference, ICIC 2017, Liverpool, UK, August 7-10, 2017, Proceedings, Part III 13: 13th International Conference, ICIC 2017 Liverpool, UK, August 7–10, 2017 Proceedings, Part III (pp. 3-14). (Lecture Notes in Artificial Intelligence; Vol. 10363). Springer. https://doi.org/10.1007/978-3-319-63315-2_1

Le, Quang Dan ; Kang, Hee-Jun. / An adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators. 13th International Conference, ICIC 2017, Liverpool, UK, August 7-10, 2017, Proceedings, Part III 13: 13th International Conference, ICIC 2017 Liverpool, UK, August 7–10, 2017 Proceedings, Part III. editor / De-Shuang Huang ; Kyungsook Han ; M. Michael Gromiha. Cham : Springer, 2017. pp. 3-14 (Lecture Notes in Artificial Intelligence).

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title = "An adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators",

abstract = "This paper proposes an adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators. The controller is designed based on the combination of computed torque method with position synchronization technique and orthogonal neural network. By using the orthogonal neural network with online turning gains can overcome the drawbacks of the traditional feedforward neural network such as initial values of weights, number of processing elements, slow convergence speed and the difficulty of choosing learning rate. To evaluate the effectiveness of the proposed control strategy, simulations were conducted by using the combination of SimMechanics and Solidworks. The tracking control results of the parallel manipulators were significantly improved in comparison with the performance when applying non-synchronization controllers.",

keywords = "planar parallel manipulator, position synchronization controller, adaptive controller, an orthogonal neural network, online self-turning",

author = "Le, \{Quang Dan\} and Hee-Jun Kang",

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Le, QD & Kang, H-J 2017, An adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators. in D-S Huang, K Han & MM Gromiha (eds), 13th International Conference, ICIC 2017, Liverpool, UK, August 7-10, 2017, Proceedings, Part III 13: 13th International Conference, ICIC 2017 Liverpool, UK, August 7–10, 2017 Proceedings, Part III. Lecture Notes in Artificial Intelligence, vol. 10363, Springer, Cham, pp. 3-14. https://doi.org/10.1007/978-3-319-63315-2_1

An adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators. / Le, Quang Dan; Kang, Hee-Jun.
13th International Conference, ICIC 2017, Liverpool, UK, August 7-10, 2017, Proceedings, Part III 13: 13th International Conference, ICIC 2017 Liverpool, UK, August 7–10, 2017 Proceedings, Part III. ed. / De-Shuang Huang; Kyungsook Han; M. Michael Gromiha. Cham: Springer, 2017. p. 3-14 (Lecture Notes in Artificial Intelligence; Vol. 10363).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book

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N2 - This paper proposes an adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators. The controller is designed based on the combination of computed torque method with position synchronization technique and orthogonal neural network. By using the orthogonal neural network with online turning gains can overcome the drawbacks of the traditional feedforward neural network such as initial values of weights, number of processing elements, slow convergence speed and the difficulty of choosing learning rate. To evaluate the effectiveness of the proposed control strategy, simulations were conducted by using the combination of SimMechanics and Solidworks. The tracking control results of the parallel manipulators were significantly improved in comparison with the performance when applying non-synchronization controllers.

AB - This paper proposes an adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators. The controller is designed based on the combination of computed torque method with position synchronization technique and orthogonal neural network. By using the orthogonal neural network with online turning gains can overcome the drawbacks of the traditional feedforward neural network such as initial values of weights, number of processing elements, slow convergence speed and the difficulty of choosing learning rate. To evaluate the effectiveness of the proposed control strategy, simulations were conducted by using the combination of SimMechanics and Solidworks. The tracking control results of the parallel manipulators were significantly improved in comparison with the performance when applying non-synchronization controllers.

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KW - adaptive controller

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KW - online self-turning

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Le QD, Kang HJ. An adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators. In Huang DS, Han K, Gromiha MM, editors, 13th International Conference, ICIC 2017, Liverpool, UK, August 7-10, 2017, Proceedings, Part III 13: 13th International Conference, ICIC 2017 Liverpool, UK, August 7–10, 2017 Proceedings, Part III. Cham: Springer. 2017. p. 3-14. (Lecture Notes in Artificial Intelligence). doi: 10.1007/978-3-319-63315-2_1

An adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators

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