IDENTIFICATION AND CONTROL OF AN ELECTRO HYDRAULIC ROBOT PARTICLE SWARM OPTIMIZATION-NEURAL NETWORK(PSO-NN) APPROACH

M. Taylan Daş, L. Canan Dülger, Sadettin Kapucu

Abstract

This paper proposes a novel approach based on the training of the Neural Network method with Particle Swarm Optimization (PSO-NN) for identification of a hydraulic servo robot. The robot is considered to have two degrees of freedom; one is rotational and the other is translational. A feed forward NN is designed for the problem and the weights of the network are trained using Particle Swarm Optimization (PSO) algorithm. In order to demonstrate the performance of PSO-NN, the designed network is also trained and tested with the Back Propagation (BP-NN) algorithm. Test results validated that the performance of PSO-NN is better than BP-NN algorithm both in convergence speed and in convergence accuracy. The results also illustrate that PSO-NN algorithm is an applicable and effective method for identification and control of a robotic system.

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Paper Citation


in Harvard Style

Taylan Daş M., Canan Dülger L. and Kapucu S. (2011). IDENTIFICATION AND CONTROL OF AN ELECTRO HYDRAULIC ROBOT PARTICLE SWARM OPTIMIZATION-NEURAL NETWORK(PSO-NN) APPROACH . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8425-74-4, pages 49-55. DOI: 10.5220/0003447600490055


in Bibtex Style

@conference{icinco11,
author={M. Taylan Daş and L. Canan Dülger and Sadettin Kapucu},
title={IDENTIFICATION AND CONTROL OF AN ELECTRO HYDRAULIC ROBOT PARTICLE SWARM OPTIMIZATION-NEURAL NETWORK(PSO-NN) APPROACH},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2011},
pages={49-55},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003447600490055},
isbn={978-989-8425-74-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - IDENTIFICATION AND CONTROL OF AN ELECTRO HYDRAULIC ROBOT PARTICLE SWARM OPTIMIZATION-NEURAL NETWORK(PSO-NN) APPROACH
SN - 978-989-8425-74-4
AU - Taylan Daş M.
AU - Canan Dülger L.
AU - Kapucu S.
PY - 2011
SP - 49
EP - 55
DO - 10.5220/0003447600490055