Trajectory tracking control of a pneumatic X-Y table using neural network based PID control

A neural network controller with PID com

A neural network controller with PID compensation for trajectory tracking of robotic manipulators

✍ Chia-Ju Wu; Ching-Huo Huang 📂 Article 📅 1996 🏛 Elsevier Science 🌐 English ⚖ 633 KB

A simple and effective method for trajectory tracking of robotic manipulator is proposed. The first step is to employ a neural network to learn the characteristics of the inverse dynamics of the robotic manipulator in an off-line manner. Then the neural network is placed in series with the robotic m