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International Conference on Intelligent Computing

ICIC 2017: Intelligent Computing Methodologies pp 3–14Cite as

An Adaptive Position Synchronization Controller Using Orthogonal Neural Network for 3-DOF Planar Parallel Manipulators

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10363))

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.

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Acknowledgement

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).

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Authors and Affiliations

  1. Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South Korea

    Quang Dan Le

  2. School of Electrical Engineering, University of Ulsan, Ulsan, South Korea

    Hee-Jun Kang

  3. The University of Danang - University of Science & Technology, Danang, Vietnam

    Tien Dung Le

Authors
  1. Quang Dan Le
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  2. Hee-Jun Kang
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  3. Tien Dung Le
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Corresponding author

Correspondence to Hee-Jun Kang .

Editor information

Editors and Affiliations

  1. Tongji University, Shanghai, China

    De-Shuang Huang

  2. Liverpool John Moores University, Liverpool, United Kingdom

    Abir Hussain

  3. Inha University, Incheon, Korea (Republic of)

    Kyungsook Han

  4. Indian Institute of Technology Madras, Chennai, India

    M. Michael Gromiha

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Le, Q.D., Kang, HJ., Le, T.D. (2017). An Adaptive Position Synchronization Controller Using Orthogonal Neural Network for 3-DOF Planar Parallel Manipulators. In: Huang, DS., Hussain, A., Han, K., Gromiha, M. (eds) Intelligent Computing Methodologies. ICIC 2017. Lecture Notes in Computer Science(), vol 10363. Springer, Cham. https://doi.org/10.1007/978-3-319-63315-2_1

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  • DOI: https://doi.org/10.1007/978-3-319-63315-2_1

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-63314-5

  • Online ISBN: 978-3-319-63315-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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