Neural Network Controller for Manipulation of Micro-Scale Objects

Vijayakumar Janardhan
Pingan He
Jagannathan Sarangapani, Missouri University of Science and Technology

This document has been relocated to

There were 5 downloads as of 28 Jun 2016.


A novel reinforcement learning-based neural network (RLNN) controller is presented for the manipulation and handling of micro-scale objects in a microelectromechanical system (MEMS). In MEMS, adhesive, surface tension, friction and van der Waals forces are dominant. Moreover, these forces are typically unknown. The RLNN controller consists of an action NN for compensating the unkoown system dynamics, and a critic NN to tune the weights of the action NN. Using the Lyapunov approach, the uniformly ultimate houndedness (UUB) of the closed-loop tracking error and weight estimates are shown by using a novel weight updates. Simulation results are presented to substantiate the theoretical conclusions.