NDLI: Nonlinear Controlling of Artificial Muscle System with Neural Networks

Content Provider	IEEE Xplore Digital Library
Author	Sheping Tian Guoqing Ding Detian Yan Liangming Lin Meng Shi
Copyright Year	2004
Description	Author affiliation: Dept. of Inf. Meas. & Instrum., Shanghai Jiaotong Univ. (Sheping Tian; Guoqing Ding; Detian Yan)
Abstract	The pneumatic artificial muscles are widely used in the fields of medical robots and etc. Neural networks are applied to modeling and controlling of artificial muscle system. A single-joint artificial muscle test system is designed. The recursive prediction error (RPE) algorithm which yields faster convergence than back propagation (BP) algorithm is applied to train the neural networks. The realization of RPE algorithm is given. The difference of modeling of artificial muscles using neural networks with different input nodes and different hidden layer nodes is discussed. On this basis the nonlinear control scheme using neural networks for artificial muscle system has been introduced. The experimental results show that the nonlinear control scheme yields faster response and higher control accuracy than the traditional linear control scheme
Sponsorship	IEEE Robotics and Autom. Soc. IEEE HK RA/CS Joint Chapter Chinese Acad. of Sci. Chinese High-tech Dev. Program Robotics Soc. of Japan Japan Soc. of Mech. Eng. Int. Rescue Syst. Inst
Starting Page	56
Ending Page	59
File Size	166127
Page Count	4
File Format	PDF
ISBN	0780386148
DOI	10.1109/ROBIO.2004.1521751
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Nonlinear control systems Control systems Muscles Artificial neural networks Medical control systems Medical robotics System testing Prediction algorithms Convergence Back Nonlinear modeling and controlling Artificial muscle Neural networks Recursive prediction error algorithm
Content Type	Text
Learning Resource Type	Article

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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
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