Research papers

Lecture Notes in Computer Science 1205

In this study, the application of the single input single output (SISO) neural generalized predictive control (NGPC) and SISO generalized predictive control (GPC) of a three joint robotic manipulator are presented. The sinusoidal and cubic trajectory principles were used for position reference and velocity reference trajectories. NGPC-SISO algorithm performs better than GPC-SISO algorithm for both trajectories. The GPC-SISO robotic manipulator control results have better values in the case of the sinusoidal trajectory, but the NGPC-SISO robotic manipulator control results for both the cubic and sinusoidal trajectory are almost similar.