TY - GEN
T1 - Cross-coupling control of dexterous hand based on neuron networks
AU - Gu, Haiwei
AU - Fan, Shaowei
AU - Zhang, Yuanfei
AU - Liu, Yiwei
AU - Jin, Minghe
PY - 2012
Y1 - 2012
N2 - In this paper, the author proposes a cross-coupling control approach based on neuron network, of which multiple parameters can be adjusted on line. According to the demand on the convergence of synchronization error in cross-coupling control, synchronization error item is introduced in this method to improve the performance function of BP (back propagation) neuron network, therefore it decreases synchronization error and meanwhile realizes the real-time adjustment of multiple parameters. The results of experiments show that compared with cross-coupling control method of which the parameters are stable, the method proposed in the paper holds the advantage that it can decrease position error and increase the stability of position tracking.
AB - In this paper, the author proposes a cross-coupling control approach based on neuron network, of which multiple parameters can be adjusted on line. According to the demand on the convergence of synchronization error in cross-coupling control, synchronization error item is introduced in this method to improve the performance function of BP (back propagation) neuron network, therefore it decreases synchronization error and meanwhile realizes the real-time adjustment of multiple parameters. The results of experiments show that compared with cross-coupling control method of which the parameters are stable, the method proposed in the paper holds the advantage that it can decrease position error and increase the stability of position tracking.
KW - Cross-coupling control
KW - Neuron network
KW - Performance function
KW - Tuning of parameters
UR - https://www.scopus.com/pages/publications/84867616943
U2 - 10.1109/ICMA.2012.6285697
DO - 10.1109/ICMA.2012.6285697
M3 - 会议稿件
AN - SCOPUS:84867616943
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 2269
EP - 2274
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -