Control of nonlinear mechatronics systems by using universal learning networks

Chun zhi Jin*, Kotaro Hirasawa, Murata Junichi, Jinglu Hu


研究成果: Conference article査読

1 被引用数 (Scopus)


Nonlinear elements such as friction, dead zone, backlash are mixed in most mechatronics systems, and these are factors that make control accuracy of systems decrease and cause an oscillation. It is difficult to deal with the problems of modeling and control of such systems using common sigmoidal neural networks because there exist nonsmooth nonlinearities in the systems, and there is no easy way to incorporate knowledge and experiences accumulated from past study. In this paper, a design method for nonlinear mechatronics control systems is proposed, in which both of the control object and its controller are represented by using a Universal Learning Network, and the network parameters are trained using a random search algorithm called RasID. In this approach, knowledge and experience about models and controllers are easily incorporated into the network including the nonlinear elements and their compensation elements expressed by non-differentiable functions. Some simulations of a nonlinear crane control system with dead-zone characteristic were carried out. The effectiveness of the proposed design method is illustrated via simulations.

ページ(範囲)V-1 - V-6
ジャーナルProceedings of the IEEE International Conference on Systems, Man and Cybernetics
出版ステータスPublished - 1999 12月 1
イベント1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
継続期間: 1999 10月 121999 10月 15

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ハードウェアとアーキテクチャ


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