Neural Networks for the Dynamics of Multi-Link Systems

dynamic modeling;custom neural architectures

Tracy, William Christopher ; Larry Silverberg, Committee Chair,Greg Buckner, Committee Member,Paul Ro, Committee Member,Tracy, William Christopher ; Larry Silverberg ; Committee Chair ; Greg Buckner ; Committee Member ; Paul Ro ; Committee Member

University:North Carolina State University

关键词: dynamic modeling;    custom neural architectures;   

Others  :  https://repository.lib.ncsu.edu/bitstream/handle/1840.16/1678/etd.pdf?sequence=1&isAllowed=y

美国|英语

来源: null

【 摘 要 】

This paper developed specialized artificial neural networks for dynamical systems. For single-degree-of-freedom systems, specialized networks were developed for a) first-order linear, b) second-order linear, complex, first-order, and c) second-order with sigmoid damping (a generalization of viscous damping and dry friction damping). Digitization errors were eliminated by a specialized sub-network that corrected amplitude and phase output. Next, a network was developed for normal-mode systems. Finally, networks were developed for multi-link systems. Trigonometric nonlinearities were handled by the activation functions and multiplicative nonlinearities were handled by a custom sub-network. The treatment of the trigonometric nonlinearities and the multiplicative nonlinearities are kernels that can be expanded into specialized networks for a broad class of multi-link systems.The paper closes with an illustrative example of a three-link system resembling an upper arm, forearm, and hand. The three-link system is optimized to throw a basketball in a hoop with minimum effort.