A Disturbance Estimation Type Control for Pneumatic Servo System Using Neural Network

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概要

• 論文の詳細を見る

• This paper presents a control scheme of pneumatic servo systems for practical use, in which a two-layer neural network is used to construct the inverse system of the plant, and disturbance to the plant is estimated. The influence of the disturbance is eliminated by subtracting the estimated disturbance from the output of the controller. To improve the learning ability of the NN, σ modification method, which is one of the robust parameter adjusting methods of the robust adaptive control, is introduced. To confirm the effectiveness of the proposed control scheme, experiments using an existent pneumatic servo system were conducted. The experimental results showed that the external force was estimated well by the disturbance estimation mechanism, and the influence of the external force to the plant output was eliminated immediately after the external force was applied. In addition, high-speed learning of NN could be realized using the switching σ modification method.

• 一般社団法人日本機械学会の論文
• 2006-03-15

著者

• 神代 充

  岡山県立大学情報工学部

• SHIMIZU Akira

  Department of Electrical and Electronic Engineering, Tokyo Institute of Technology

• 神代 充

  岡山県立大学情報工学部情報システム工学科

• YAMAMOTO Tomonori

  Department of Cardiovascular Surgery, Nihon University School of medicine

• YAMAMOTO Tomonori

  Faculty of Engineering, Ehime University

• SHIBATA Satoru

  Department of Mechanical Engineering, Ehime University

• JINDAI Mitsuru

  Department of System Engineering, Faculty of Computer Science and System Engineering, Okayama Prefec

• Yamamoto T

  Department Of Mechanical Engineering Ehime University

• Yamamoto Tomonori

  Department Of Biological Science And Technology Science University Of Tokyo

• Shibata S

  Department Of Mechanical Engineering Ehime University

• Shibata Satoru

  Department Of Engineering For Production And Environments Ehime University

• Shimizu A

  Department Of Mechanical Engineering Ehime University

• Shimizu Akira

  Department Of Dermatology Gunma University Graduate School Of Medicine

• Shimizu Akira

  Department Of Biological Sciences Graduate School Of Science And Engineering Tokyo Metropolitan Univ

• Shimizu Akira

  Department Of Basic Science The University Of Tokyo

• Shimizu Akira

  Deparment Of Physics Rikkyo University

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