An investigation on the neural networks based active vibration control of flexible redundant manipulators was conducted. The smart links of the manipulator were synthesized with the flexible links to which were attach...An investigation on the neural networks based active vibration control of flexible redundant manipulators was conducted. The smart links of the manipulator were synthesized with the flexible links to which were attached piezoceramic actuators and strain gauge sensors. A nonlinear adaptive control strategy named neural networks based indirect adaptive control (NNIAC) was employed to improve the dynamic performance of the manipulator. The mathematical model of the 4-layered dynamic recurrent neural networks (DRNN) was introduced. The neuro-identifier and the neuro-controller featuring the DRNN topology were designed off line so as to enhance the initial robustness of the NNIAC. By adjusting the neuro-identifier and the neuro-controller alternatively, the manipulator was controlled on line for achieving the desired dynamic performance. Finally, a planar 3R redundant manipulator with one smart link was utilized as an illustrative example. The simulation results proved the validity of the control strategy.展开更多
In this paper we consider the problems of exact controllability and stabilization forone-dimensional wave equation with an interior point mass. Using equivalent norms, we prove that thesystem is energy dissipative. Th...In this paper we consider the problems of exact controllability and stabilization forone-dimensional wave equation with an interior point mass. Using equivalent norms, we prove that thesystem is energy dissipative. The exact controllability is proven by the "Hilbert Uniform Method"[3].The energy may decay uniformly exponentially and the only equilibrium state is zero one if stabilizers areinstalled at both ends. This result correct the main work of [1]. Several related results for singularitiesare also given.展开更多
基金Supported by National Natural Science Foundation of China(No.59975001 and 50205019).
文摘An investigation on the neural networks based active vibration control of flexible redundant manipulators was conducted. The smart links of the manipulator were synthesized with the flexible links to which were attached piezoceramic actuators and strain gauge sensors. A nonlinear adaptive control strategy named neural networks based indirect adaptive control (NNIAC) was employed to improve the dynamic performance of the manipulator. The mathematical model of the 4-layered dynamic recurrent neural networks (DRNN) was introduced. The neuro-identifier and the neuro-controller featuring the DRNN topology were designed off line so as to enhance the initial robustness of the NNIAC. By adjusting the neuro-identifier and the neuro-controller alternatively, the manipulator was controlled on line for achieving the desired dynamic performance. Finally, a planar 3R redundant manipulator with one smart link was utilized as an illustrative example. The simulation results proved the validity of the control strategy.
文摘In this paper we consider the problems of exact controllability and stabilization forone-dimensional wave equation with an interior point mass. Using equivalent norms, we prove that thesystem is energy dissipative. The exact controllability is proven by the "Hilbert Uniform Method"[3].The energy may decay uniformly exponentially and the only equilibrium state is zero one if stabilizers areinstalled at both ends. This result correct the main work of [1]. Several related results for singularitiesare also given.
