NDLI: A stable neural network observer with application to flexible-joint manipulators

Content Provider	IEEE Xplore Digital Library
Author	Abdollahi, F. Talebi, H.A. Patel, R.V.
Copyright Year	2002
Description	Author affiliation: Dept. of Electr. Eng., AmirKabir Univ. of Technol., Tehran, Iran (Abdollahi, F.; Talebi, H.A.)
Abstract	A stable neural network based observer for a general multivariable nonlinear system is considered in this paper. A linearly parameterized neural network is employed for approximation of the unknown nonlinearities of the system. The recurrent network configuration is obtained by a combination of feedforward network architectures with dynamical elements in the form of stable filters. The weights of the network are updated according to a novel approach based on the modification of the backpropagation algorithm. The stability of the system is shown using Lyapunov direct method. No SPR assumption is imposed on the output error equation. The proposed observer is applied to a flexible-joint manipulator to evaluate its performance. The simulation results show the effectiveness of the proposed observer.
Sponsorship	Asia-Pacific Neural Network Assembly Singapore Neuroscience Assoc. SEAL & FSKD Conference Steering Committees IEEE Neural Networks Soc. Int. Neural Network Soc. Eur. Neural Network Soc. SPIE
Starting Page	1910
Ending Page	1914
File Size	333113
Page Count	5
File Format	PDF
ISBN	9810475241
DOI	10.1109/ICONIP.2002.1199006
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-11-18
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Nanyang Technological University
Subject Keyword	Neural networks Observers Nonlinear systems State estimation Uncertainty Equations Robots Manipulator dynamics Recurrent neural networks Nonlinear dynamical systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Mr. Siddhartha Mukherjee siddhartha@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	ndl-support@iitkgp.ac.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Libarray of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A stable neural network-based observer with application to flexible-joint manipulators

State estimation for flexible-joint manipulators using stable neural networks

Observer design for flexible joint manipulators with parameter uncertainties

Robust nonlinear adaptive observer design using dynamic recurrent neural networks

A new adaptive neural network based observer for robotic manipulators

Robust state estimation and control of a single link manipulator with flexible joint

A neural network application to fault diagnosis for robotic manipulator

On Stability of Nonlinear Observers Based on Neural Networks

Nonlinear observer design for discrete MIMO systems with unknown time delay

A stable neural network observer with application to flexible-joint manipulators

Similar Documents

A stable neural network-based observer with application to flexible-joint manipulators

State estimation for flexible-joint manipulators using stable neural networks

Observer design for flexible joint manipulators with parameter uncertainties

Robust nonlinear adaptive observer design using dynamic recurrent neural networks

A new adaptive neural network based observer for robotic manipulators

Robust state estimation and control of a single link manipulator with flexible joint

A neural network application to fault diagnosis for robotic manipulator

On Stability of Nonlinear Observers Based on Neural Networks

Nonlinear observer design for discrete MIMO systems with unknown time delay

A stable neural network observer with application to flexible-joint manipulators