ニューロ逆モデルとファジィによる形状可変柔軟構造物の運動制御

概要

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This paper presents a numerical method for motion control of a variable-geometry flexible beam structure. The transient response of the structure is calculated using updated nodal coordinates and internal forces, and the stiffness matrix for the beam elements in a finite element model. Using the results of various quasi-static finite element analyses, the neural-network feedforward controller learns an inverse model of the controlled flexible structure. To minimize the tracking error and to damp the vibration, the fuzzy feedback controller is combined with feedforward controller, which uses the above inverse model to estimate the sensitivity of the controlled structure. As an example, this method is applied to an arm-like flexible, lightweight beam structure which has 21 elements including two variable links, and the motion is analyzed.
一般社団法人日本機械学会の論文
1996-05-25