Deadlock prevention and performance oriented supervision in flexible manufacturing cells: A hierarchical approach

Fahmy, Sherif A.; Balakrishnan, S.; ElMekkawy, Tarek Y.

doi:10.1016/j.rcim.2010.10.006

Cited by 11 publications

(1 citation statement)

References 35 publications

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“…In robot system, the optimization problem of MPC is still the challenges due to the nonlinear dynamic model and other non-convex constraints [40]. In addition, the robot system often suffers the deadloack problem, which has been well investigated in [41][42][43]. A suitable method for solving the nonlinear MPC (NMPC) is differential evolution optimization (DEO).…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Model Predictive Control of Single-Link Flexible-Joint Robot Using Recurrent Neural Network and Differential Evolution Optimization

et al. 2021

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A recurrent neural network (RNN) and differential evolution optimization (DEO) based nonlinear model predictive control (NMPC) technique is proposed for position control of a single-link flexible-joint (FJ) robot. First, a simple three-layer recurrent neural network with rectified linear units as an activation function (ReLU-RNN) is employed for approximating the system dynamic model. Then, using the RNN predictive model and model predictive control (MPC) scheme, an RNN and DEO based NMPC controller is designed, and the DEO algorithm is used to solve the controller. Finally, comparing numerical simulation findings demonstrates the efficiency and performance of the proposed approach. The merit of this method is that not only is the control precision satisfied, but also the overshoots and the residual vibration are well suppressed.

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