TY - GEN
T1 - Apply Adaptive Neural Network PID Controllers for a 6DOF Robotic Arm
AU - Wu, Meng Chien
AU - Jhong, Bing Gang
AU - Chen, Mei Yung
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This thesis proposes a novel controller design for a six-axes robotic arm, based on the neural network frame learning mechanism. The controller structure includes five parts. Firstly, we get the training dataset from the actual construction of the six-axis robotic arm. Secondly, the training method of the neural network is based on adaptively adjust the weight value and error between the input layer and the hidden layer. Thirdly, put the training dataset as input of the neural network to train the model. Finally, we use Lyapunov theory to guarantee the stability of the controller design for a six-axis robotic arm, and compare it with PID controller design.
AB - This thesis proposes a novel controller design for a six-axes robotic arm, based on the neural network frame learning mechanism. The controller structure includes five parts. Firstly, we get the training dataset from the actual construction of the six-axis robotic arm. Secondly, the training method of the neural network is based on adaptively adjust the weight value and error between the input layer and the hidden layer. Thirdly, put the training dataset as input of the neural network to train the model. Finally, we use Lyapunov theory to guarantee the stability of the controller design for a six-axis robotic arm, and compare it with PID controller design.
KW - Adaptive Control
KW - Artificial neural network
KW - six-axis robotic arm
UR - http://www.scopus.com/inward/record.url?scp=85143401269&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85143401269&partnerID=8YFLogxK
U2 - 10.1109/ICSSE55923.2022.9948251
DO - 10.1109/ICSSE55923.2022.9948251
M3 - Conference contribution
AN - SCOPUS:85143401269
T3 - ICSSE 2022 - 2022 International Conference on System Science and Engineering
SP - 79
EP - 83
BT - ICSSE 2022 - 2022 International Conference on System Science and Engineering
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Conference on System Science and Engineering, ICSSE 2022
Y2 - 26 May 2022 through 29 May 2022
ER -