Because of its ease of implementation,a linear PID controller is generally used to control robotic manipulators.Linear controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,...Because of its ease of implementation,a linear PID controller is generally used to control robotic manipulators.Linear controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,nonlinear controllers with robust performance which can cope with these are recommended.The sliding mode control(SMC)is a robust state feedback control method for nonlinear systems that,in addition having a simple design,efficiently overcomes uncertainties and disturbances in the system.It also has a very fast transient response that is desirable when controlling robotic manipulators.The most critical drawback to SMC is chattering in the control input signal.To solve this problem,in this study,SMC is used with a boundary layer(SMCBL)to eliminate the chattering and improve the performance of the system.The proposed SMCBL was compared with inverse dynamic control(IDC),a conventional nonlinear control method.The kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted completely and accurately,and then the control of the robot manipulator using SMC was evaluated.For validation,the proposed control method was implemented on a 6-DOF IRB-120 robot manipulator in the presence of uncertainties.The results were simulated,tested,and compared in the MATLAB/Simulink environment.To further validate our work,the results were tested and confirmed experimentally on an actual IRB-120 robot manipulator.展开更多
Electric load forecasting has been a major area of research in the last decade since the production of accurate short-term forecasts for electricity loads has proven to be a key to success for many of the decision mak...Electric load forecasting has been a major area of research in the last decade since the production of accurate short-term forecasts for electricity loads has proven to be a key to success for many of the decision makers in the energy sector, from power generation to operation of the system. The objective of this research is to analyze the capacity of the MLP （multilayer perceptron neural network） versus SOM （self-organizing map neural network） for short-term load forecasting. The MLP is one of the most commonly used networks. It can be used for classification problems, model construction, series forecasting and discrete control. On the other hand, the SOM is a type of artificial neural network that is trained using unsupervised data to produce a low-dimensional, discretized representation of an input space of training samples in a cell map. Historical data of real global load demand were used for the research. Both neural models provide good prediction results, but the results obtained with the SOM maps are markedly better Also the main advantage of SOM maps is that they reach good results as a network unsupervised. It is much easier to train and interpret the results.展开更多
文摘Because of its ease of implementation,a linear PID controller is generally used to control robotic manipulators.Linear controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,nonlinear controllers with robust performance which can cope with these are recommended.The sliding mode control(SMC)is a robust state feedback control method for nonlinear systems that,in addition having a simple design,efficiently overcomes uncertainties and disturbances in the system.It also has a very fast transient response that is desirable when controlling robotic manipulators.The most critical drawback to SMC is chattering in the control input signal.To solve this problem,in this study,SMC is used with a boundary layer(SMCBL)to eliminate the chattering and improve the performance of the system.The proposed SMCBL was compared with inverse dynamic control(IDC),a conventional nonlinear control method.The kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted completely and accurately,and then the control of the robot manipulator using SMC was evaluated.For validation,the proposed control method was implemented on a 6-DOF IRB-120 robot manipulator in the presence of uncertainties.The results were simulated,tested,and compared in the MATLAB/Simulink environment.To further validate our work,the results were tested and confirmed experimentally on an actual IRB-120 robot manipulator.
文摘Electric load forecasting has been a major area of research in the last decade since the production of accurate short-term forecasts for electricity loads has proven to be a key to success for many of the decision makers in the energy sector, from power generation to operation of the system. The objective of this research is to analyze the capacity of the MLP （multilayer perceptron neural network） versus SOM （self-organizing map neural network） for short-term load forecasting. The MLP is one of the most commonly used networks. It can be used for classification problems, model construction, series forecasting and discrete control. On the other hand, the SOM is a type of artificial neural network that is trained using unsupervised data to produce a low-dimensional, discretized representation of an input space of training samples in a cell map. Historical data of real global load demand were used for the research. Both neural models provide good prediction results, but the results obtained with the SOM maps are markedly better Also the main advantage of SOM maps is that they reach good results as a network unsupervised. It is much easier to train and interpret the results.
