文献类型：期刊文献

中文题名：模拟复合正交神经网络控制器在机械臂控制中的应用

英文题名：Application of analog compound orthogonal neural network controller in the manipulator control

作者：叶军[1]

机构：[1]绍兴文理学院机电工程系

年份：2005

卷号：30

期号：3

起止页码：387

中文期刊名：煤炭学报

外文期刊名：Journal of China Coal Society

收录：CSTPCD、、北大核心2004、Scopus、CSCD2011_2012、北大核心、CSCD

基金：浙江省自然科学基金资助项目(M603070)

语种：中文

中文关键词：模拟复合正交神经网络;连续学习算法;机械臂;并行控制

外文关键词：analog compound orthogonal neural network; continuously learning algorithm; manipulator; parallel control

中文摘要：在数字复合正交神经网络的基础上提出一种模拟复合正交神经网络,并应用于机械臂的控制.控制器采用模拟复合正交神经网络与PD的并行控制方法,对机械臂的位置控制做了仿真实验.结果表明,相对于常规PD控制器,该神经网络控制器具有自学习、自适应功能,位置跟踪获得了满意的控制效果.该模拟神经控制器能应用于机器人控制系统中.

外文摘要：An analog compound orthogonal neural network was presented on the basis of the digital compound orthogonal neural network and was applied in the position control of a manipulator. The controller is a parallel control method with an analog compound orthogonal neural network and PD. The position control experiments of the manipulator were simulated by using the controller. The simulation results prove that the neural network controller has self-learning and self-adaptive ability by comparison with PD controller. The position tracking control obtains satisfactory effect. The analog neural controller can be applied in the control systems of robots.