A neurocontrol scheme of a 2-DOF manipulator using CMAC

Abstract

Artificial Neural Networks (ANN) are an emerging technology, yet, in continuous dynamic behavior, much work has been done to attempt to generate a formal method to design a controller based on this technology. Based on this fact we are starting to work towards contributing to the generation of a formal method of the application of neurocontrol and thus present several control schemes using multilayer perceptrons and also Albus' Cerebellar Model Articulation Controller (CMAC). The control schemes are presented and explained. The direct inverse neurocontroller model is used as the system controller without a linear controller. Results from two neurocontrollers are presented in a comparative way versus linear system using a 2-DOF plant. © Springer-Verlag Berlin Heidelberg 2000.