Research on a Pneumatic Miniature Robotic Control System Based on Improved Single Neural Network PID Control

摘要：

Pneumatic miniature robotic control system usually adopts PID (Proportion Integration Differentiation) control strategy at present. To cope with the limitations of the basic PID control strategy, an improved single neural network PID control strategy is put forward in this paper. The control strategy is a single neuron adaptive controller with adjusting weighting coefficient, the weighting coefficient is realized according to the Hebb learning rule with supervisory. Both simulation and experimental results indicate that steady state error of the system equal to zero in the step-response curve, this scheme is a feasible control method for the 3-dof pneumatic miniature robotic control system.

关键词： Rubber actuator Inchworm movement single neural network PID.

作者: Wen Li Xiangyu Dai

作者单位: Hunan Institute of Science and Technology, Yueyang, Hunan, 414006, China Changsha Professional Institute of Electric and Technology, Changsha, 410131, Hunan, China

会议类型: 国际会议

会议名称: 2011 International Conference on Vibration,Structural Engineering and Measurement(2011年振动、结构工程与测量国际会议 ICVSEM 2011)

会议地点: 上海

会议语种:英文

页码: 2157-2161

在线出版日期: 2011-10-21（万方平台首次上网日期，不代表论文的发表时间）