Real-time neural-network-based control of a gyro-mirror line-of-sight stabilization platform

In this paper, we consider the real-time neural-network-based control of a gyro-mirror line-of-sight stabilization platform. This is an example of a multivariable nonlinear servomechanism encountered in certain practical applications, and the appropriate neural-network-based modelling and controller design are discussed. In the paper, real-time experimental results in applying the proposed controller to a pilot-scale gyro-mirror platform are presented to demonstrate its effectiveness. These experiments also serve to verify the analytical results in a proptotype real-time application.

[1]  C. Micchelli.  Interpolation of scattered data: Distance matrices and conditionally positive definite functions , 1986 .

[2]  Eli Tzirkel-Hancock,et al.  A direct control method for a class of nonlinear systems using neural networks , 1991 .

[3]  David S. Broomhead,et al.  Multivariable Functional Interpolation and Adaptive Networks , 1988, Complex Syst..

[4]  Tong Heng Lee,et al.  An approach to inverse nonlinear control using neural networks , 1992 .

[5]  Hideki Hashimoto,et al.  Implementation of VSS control to robotic manipulators-smoothing modification , 1989 .

[6]  R. Franke.  Scattered data interpolation: tests of some methods , 1982 .

[7]  J.H. Lang,et al.  Real-time adaptive control of the permanent-magnet synchronous motor , 1990, Conference Record of the 1990 IEEE Industry Applications Society Annual Meeting.

[8]  F. Girosi,et al.  Networks for approximation and learning , 1990, Proc. IEEE.

[9]  John J. Craig Zhu,et al.  Introduction to robotics mechanics and control , 1991 .

[10]  Robert M. Sanner,et al.  Gaussian Networks for Direct Adaptive Control , 1991, 1991 American Control Conference.

[11]  J. Zhang,et al.  Robustness enhancement of DC drives with a smooth optimal sliding mode control , 1990, Conference Record of the 1990 IEEE Industry Applications Society Annual Meeting.

[12]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[13]  E. K. Koh,et al.  Stable adaptive control of multivariable servomechanisms, with application to a passive line-of-sight stabilization system , 1996, IEEE Trans. Ind. Electron..

[14]  Derrick H. Nguyen,et al.  Neural networks for self-learning control systems , 1990 .

[15]  Tong Heng Lee,et al.  Real-time parallel adaptive neural network control for nonlinear servomechanisms—an approach using direct adaptive techniques , 1993 .

[16]  L. Goddard.  Approximation of Functions , 1965, Nature.

[17]  Shuzhi Sam Ge,et al.  Real-time neural network control of a free gyro stabilized mirror system , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[18]  Yoshiki Uchikawa,et al.  Trajectory control of robotic manipulators using neural networks , 1991 .

[19]  V. Arnold.  Mathematical Methods of Classical Mechanics , 1974 .

[20]  C. Desoer,et al.  Feedback Systems: Input-Output Properties , 1975 .

[21]  Francis L. Merat,et al.  Introduction to robotics: Mechanics and control , 1987, IEEE J. Robotics Autom..

[22]  Tarun Khanna,et al.  Foundations of neural networks , 1990 .

[23]  J. Rice.  The approximation of functions , 1964 .

[24]  Hideki Hashimoto.  Variable Structure Strategy For Motion Control Systems Application To Electrical Machines , 1987, Other Conferences.