NEURAL-NETWORK-BASED LEARNING CONTROL OF FLEXIBLE MECHANISM WITH APPLICATION TO A SINGLE-LINK FLEXIBLE ARM

被引：16

作者：

TAKAHASHI, K ^{[1
]}

YAMADA, I ^{[1
]}

机构：

[1] NIPPON TELEGRAPH & TEL PUBL CORP, DEPT TECHNOL RES, CHIYODA KU, TOKYO 10019, JAPAN

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1994年 / 116卷 / 04期

关键词：

D O I：

10.1115/1.2899281

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper shows the effectiveness of a neural-network controller for controlling a flexible mechanism such as a flexible robot arm. An adaptive-type direct neural controller is formulated using state-space representation of the dynamics of the target system. The characteristics of the controller are experimentally investigated by using it to control the tip angular position of a single-link flexible arm.

引用

页码：792 / 795

页数：4

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