Title :
Internal model controller with diagonal recurrent neural network for pneumatic robot servo system
Author :
Wang, Xuesong ; Peng, Guangzheng ; Xue, Yang
Author_Institution :
Dept. of Autom. Control, Beijing Inst. of Technol., China
Abstract :
A new internal model controller for pneumatic robot servo system is presented, which has a three-layer feedforward neural network as controller (NNC) and a diagonal recurrent neural network (DRNN) as model predictor (NNM). The topology structures and learning algorithm for both NNM and NNC networks are discussed in this paper. The proposed control scheme is applied to a single rod pneumatic cylinder position control system and the experiment results indicate that the system has strong robustness for variation of system parameters and significantly improves the control performances of pneumatic actuators.
Keywords :
feedforward neural nets; learning systems; neurocontrollers; pneumatic actuators; pneumatic systems; position control; predictive control; recurrent neural nets; robots; robust control; servomechanisms; diagonal recurrent neural network; internal model controller; learning algorithm; model predictor; pneumatic actuators; pneumatic robot servo system; single rod pneumatic cylinder position control system; system parameters variation; three-layer feedforward neural network; topology structures; Control systems; Feedforward neural networks; Network topology; Neural networks; Position control; Predictive models; Recurrent neural networks; Robot control; Robust control; Servomechanisms;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7866-0
DOI :
10.1109/CIRA.2003.1222144
