Title :
A study on neural network control of explosion-proof 2-link pneumatic manipulator
Author :
LI, Yunsheng ; Asakura, Toshiyuki
Author_Institution :
Graduate Sch. of Eng., Fukui Univ., Japan
Abstract :
This research develops with the control on dynamics of the explosion-proof 2-link pneumatic manipulator. In the explosion-proof pneumatic control system, it is generally difficult to prevent the hunting, due to both the time-delay of pneumatic signals and nonlinear friction. Instead of the conventional PD control, a new control scheme with neural network (NN) is proposed to realize the precise position control. Through simulation and experiment, it is verified that the hunting may be suppressed and stabilization of dynamics can be realized by using the NN-PD control.
Keywords :
delay systems; manipulator dynamics; neurocontrollers; nonlinear control systems; pneumatic systems; position control; stability; PD control; dynamic stabilization; explosion-proof 2-link pneumatic manipulator; neural network control; nonlinear friction; pneumatic control system; pneumatic signals; position control; time delay system; Arm; Friction; Manipulator dynamics; Neural networks; Nonlinear dynamical systems; PD control; Pneumatic actuators; Robots; Stability; Transducers;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225528
