ISA Interchange

Welcome to the official blog of the International Society of Automation (ISA).

This blog covers numerous topics on industrial automation such as operations & management, continuous & batch processing, connectivity, manufacturing & machine control, and Industry 4.0.

The material and information contained on this website is for general information purposes only. ISA blog posts may be authored by ISA staff and guest authors from the automation community. Views and opinions expressed by a guest author are solely their own, and do not necessarily represent those of ISA. Posts made by guest authors have been subject to peer review.

All Posts

PID Control Using Recurrent Neural Networks for Robotic Manipulators [Technical]

This post is an excerpt from the journal ISA Transactions. All ISA Transactions articles are free to ISA members, or can be purchased from Elsevier Press.


Abstract: Being complex, non-linear and coupled system, the robotic manipulator cannot be effectively controlled using classical proportional integral derivative (PID) controller. To enhance the  effectiveness of the conventional PID controller for the nonlinear and uncertain systems, gains of the PID controller should be conservatively tuned and should adapt to the process parameter variations. In this work, a mix locally recurrent neural network (MLRNN) architecture is investigated to mimic a conventional PID controller which consists of at most three hidden nodes which act as proportional, integral and derivative node. The gains of the mix locally recurrent neural network based PID (MLRNNPID) controller scheme are initi- alized with a newly developed cuckoo search algorithm (CSA) based optimization method rather than assuming randomly. A sequential learning based least square algorithm is then investigated for the on- line adaptation of the gains of MLRNNPID controller. The performance of the proposed controller scheme is tested against the plant parameters uncertainties and external disturbances for both links of the two link robotic manipulator with variable payload (TL-RMWVP). The stability of the proposed controller is analyzed using Lyapunov stability criteria. A performance comparison is carried out among MLRNNPID controller, CSA optimized NNPID (OPTNNPID) controller and CSA optimized conventional PID (OPTPID) controller in order to establish the effectiveness of the MLRNNPID controller.

Free Bonus! To read the full version of this ISA Transactions article, click here.

Enjoy this technical resource article? Join ISA and get free access to all ISA Transactions articles as well as a wealth of other technical content, plus professional networking and discounts on technical training, books, conferences, and professional certification.

Click here to join ISA ... learn, advance, succeed!

2006-2018 Elsevier Science Ltd. All rights reserved.


Related Posts

ISA: Growing Stronger Together for a Brighter Future

As a part of the International Society of Automation (ISA) community—I see firsthand how our Society need...
Eddie Habibi Feb 29, 2024 9:46:56 AM

Is AI the Key to Unlocking Procurement Cost Savings?

As more people experiment with using artificial intelligence (AI) for real-life use cases, many wonder if...
Emily Newton Feb 27, 2024 10:15:02 AM

My ISA Journey

My ISA journey thus far has been one ripe with growth and knowledge. I’m lucky to say it has been one of ...
Prabhu Soundarrajan Feb 22, 2024 12:12:00 PM