The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 27, 1995
Filed:
Aug. 13, 1992
Makoto Kano, Urayasu, JP;
Kabushiki Kaisha Toshiba, Kawasaki, JP;
Abstract
This invention relates to a predictive control method and apparatus for controlling a nonlinearly controlled object, such as a manipulator. The method and apparatus can control an object having unknown dynamic characteristics and can compensate for disturbances. A multi-layered neural network is provided as an identification model for the object to the controlled. A controlled variable signal received from the object and a manipulated variable signal for controlling the object are fed into the neural network to predict a future value of the controlled variable signal using forward calculation. The predicted future value is compared with a desired control variable value to produce an error value. The error value is input to the neural network to compute a correction value for the manipulated variable signal using back-propagation. The correction value is used to modify the manipulated variable signal value to thereby control the object.