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.
Neural-Network Based Learning Control of Flexible Mechanism With Application to a Single-Link Flexible Arm
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Takahashi, K., and Yamada, I. (December 1, 1994). "Neural-Network Based Learning Control of Flexible Mechanism With Application to a Single-Link Flexible Arm." ASME. J. Dyn. Sys., Meas., Control. December 1994; 116(4): 792–795. https://doi.org/10.1115/1.2899281
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