Abstract
A recurrent neural network (RNN) and differential evolution optimization (DEO) based nonlinear model predictive control (NMPC) technique is proposed for position control of a single-link flexible-joint (FJ) robot. First, a simple three-layer recurrent neural network with rectified linear units as an activation function (ReLU-RNN) is employed for approximating the system dynamic model. Then, using the RNN predictive model and model predictive control (MPC) scheme, an RNN and DEO based NMPC controller is designed, and the DEO algorithm is used to solve the controller. Finally, comparing numerical simulation findings demonstrates the efficiency and performance of the proposed approach. The merit of this method is that not only is the control precision satisfied, but also the overshoots and the residual vibration are well suppressed.
Highlights
The control of the flexible-joint (FJ) robot has been a major research topic in the field of control theory and engineering for several decades [1,2,3,4,5,6,7]
We present an recurrent neural network (RNN) and differential evolution optimization (DEO) based nonlinear model predictive control (NMPC) approach for position control of a single-link FJ robot
An RNN and DEO based NMPC method is proposed for the position control of a single-link FJ robot
Summary
The control of the flexible-joint (FJ) robot has been a major research topic in the field of control theory and engineering for several decades [1,2,3,4,5,6,7]. We present an RNN and DEO based NMPC approach for position control of a single-link FJ robot. The RNN is employed to approximate the system dynamics, and the DEO algorithm is applied to solve the NMPC controller. An RNN and DEO based NMPC method is proposed for the position control of a single-link FJ robot. The merit of this process is that is the control precision satisfied, and the overshoots and the residual vibration is well suppressed. According to the RNN predictive model and MPC approach, an RNN and DEO based NMPC controller is designed, in which the DEO algorithm is applied to solve the controller.
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