むだ時間を考慮した空気圧マニピュレータの軌道追従におけるカオス現象とニューラルネットワークによる安定化制御(機械力学,計測,自動制御)

概要

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This research develops the phenomena of chaos and its stabilizing control in following a circular trajectory by considering a time-delay of pneumatic signals in a 2-link pneumatic manipulator. In general, it becomes difficult for such a manipulator to follow a desired trajectory, because chaos phenomena is often caused in manipulators with time-delay of pneumatic signals transmitted through long air tubes. In order to solve this kind of problem, the chaotic behavior is examined by recording the Lyapunov exponent, and a new stabilizing method with neural networks (NN) is proposed. Through simulations and experiments, the phenomena of chaos and the control of stabilization are verified, and the effectiveness of the proposed method is shown.
2005-11-25