It has been a challenging task for a robotic arm to accurately reach and grasp objects, which has drawn much research attention. This article proposes a robotic hand-eye coordination system by simulating the human beh...
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It has been a challenging task for a robotic arm to accurately reach and grasp objects, which has drawn much research attention. This article proposes a robotic hand-eye coordination system by simulating the human behavior pattern to achieve a fast and robust reaching ability. This is achieved by two neural-network-based controllers, including a rough reaching movement controller implemented by a pretrained radial basis function for rough reaching movements, and a correction movement controller built from a specifically designed brain emotional nesting network (BENN) for smooth correction movements. In particular, the proposed BENN is designed with high nonlinear mapping ability, with its adaptive laws derived from the Lyapunov stability theorem;from this, the robust tracking performance and accordingly the stability of the proposed control system are guaranteed by the utilization of the H-infinity control approach. The proposed BENN is validated and evaluated by a chaos synchronization simulation, and the overall control system by object grasping tasks through a physical robotic arm in a real-world environment. The experimental results demonstrate the superiority of the proposed control system in reference to those with single neuralnetworks.
In this study, an artificial neural-network (ANN)-based space-vector pulse-width modulation (SVPWM) for capacitor voltage balancing of a three-phase three-level neutral-point clamped converter with improved power qual...
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In this study, an artificial neural-network (ANN)-based space-vector pulse-width modulation (SVPWM) for capacitor voltage balancing of a three-phase three-level neutral-point clamped converter with improved power quality is presented. The neural-network-based controller offers the advantage of very fast implementation of the SVPWM algorithm. This makes it possible to use an application specific integrated circuit chip in place of a digital signal processor. The proposed scheme employs single layer feed-forward neural-networks at different stages along with a control algorithm using modified reference vector for capacitor voltage balancing of an improved power quality three-phase neutral-point clamped converter. In other words, the neural-network receives three-phase voltages and currents as input and generates symmetrical pulse-width modulation waves for three phases of the converter. A simulated digital signal processor (DSP)-based modulator generates the data which are used to train the network by a back-propagation algorithm in the MATLAB neuralnetwork Toolbox. The simulation of converter with ANN-based space-vector modulator shows excellent performance when compared with that of conventional DSP-based modulator.
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