Neural-Network Based Learning Control of Flexible Mechanism With Application to a Single-Link Flexible Arm

[+] Author and Article Information
Kazuhiko Takahashi

Interdisciplinary Research Laboratories, Nippon Telegraph and Telephone Corporation, 3-9-11 Midori-cho, Musashino-shi, Tokyo 180, Japan

Ichiro Yamada

Technology Research Department, Nippon Telegraph and Telephone Corporation, 1-1-6 Uchisaiwai-cho, Chiyoda-ku, Tokyo 100-19, Japan

J. Dyn. Sys., Meas., Control 116(4), 792-795 (Dec 01, 1994) (4 pages) doi:10.1115/1.2899281 History: Received March 01, 1993; Online March 17, 2008


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.

Copyright © 1994 by The American Society of Mechanical Engineers
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