Adaptive Neural Network Control of an Aerial Work Platform’s arm
Jia, Pengxiao; Li, En; Liang, Zize; Qiang, Yanhui; Pengxiao Jia; En Li; Zizhe Liang; Yanhui Qiang
2012
会议名称The 10th World Congress on Intelligent Control and Automation (WCICA)
会议录名称Proceedings of the 10th World Congress on Intelligent Control and Automation (WCICA)
会议日期2012
会议地点Beijing
其他摘要An aerial work platform (AWP) is a type of off highway vehicle with a long beam to provide temporary access to inaccessible areas [1]. The motivation of the research is to increase its productivity, safety and reduce the manipulation complexity during the operation process. In this paper, a simplified two-link model of AWP's arm is given. The control scheme based on neural network modeling technology is employed to steer the AWP's arm to track the desired trajectories asymptotically, which requires neither the evaluation of inverse dynamical model nor the time-consuming training process. The simulation results validate the effectiveness of the proposed approach.
关键词Neural Networks Trajectory Adaptive Systems Adaptation Models Robots Mathematical Model Aerospace Electronics
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/11083
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Pengxiao Jia; En Li; Zizhe Liang; Yanhui Qiang
推荐引用方式
GB/T 7714
Jia, Pengxiao,Li, En,Liang, Zize,等. Adaptive Neural Network Control of an Aerial Work Platform’s arm[C],2012.
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