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S5 Controle Ativo de Vibrações e Estruturas Inteligentes |
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Titulo:
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EXPERIMENTAL NEURAL CONTROL OF AN UNCONSTRAINED MULTIBODY SYSTEM WITH FLEXIBLE APPENDAGES
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Resumo :
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THIS PAPER PRESENTS THE IMPLEMENTATION OF AN EXPERIMENTAL NEURAL CONTROL OF AN UNCONSTRAINED NONLINEAR MULTIBODY SYSTEM WITH FLEXIBLE APPENDAGES, WHERE THE APPENDAGE-TO-HUB INERTIA RATIO IS 37. THE ADAPTIVE INVERSE NEURAL CONTROL APPROACH USED IS CALLED FEEDBACK-ERROR-LEARNING AND IT IS BASED ON THE USE OF THE OUTPUT OF A FEEDBACK CONTROLLER WITH FIXED PARAMETERS TO ADAPT A NEURAL NETWORK WHICH ACTS AS A FEEDFORWARD CONTROLLER. FIRSTLY THE ANALYTICAL MODEL OF THE EXPERIMENTAL APPARATUS AVAILABLE AT THE ITA-IEMP DYNAMICS LABORATORY IS DERIVED. THE EXPERIMENTAL RESULTS FOR THE CONTROL OF THIS APPARATUS WHEN USING A PID CONTROLLER AND THE FEEDBACK-ERROR-LEARNING APPROACH ARE THEN PRESENTED AND COMPARED. |
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Autores :
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Góes, Luiz Carlos Sandoval
Nascimento Jr., Cairo Lúcio
Rios-Neto, Wilson
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Trabalho Completo :
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