Title :
Research and Simulation on Multiplexed Movement Control of Subaqueous Robot Based on CMAC
Author_Institution :
Sch. of Software Eng., Huazhong Univ. of Sci. & Technol., Wuhan
Abstract :
Subaqueous robot is an altitudinal linear, multivariate and strong coupling system working in a very complex condition and is interfered strength. Aiming at controlling the motion of subaqueous robot is very difficult, in this paper, one dynamic model in which wave force is considered is constructed; and one multiplexed control method based on CMAC and PID is designed. Thus the subaqueous robot has the ability of on-line learn and is adapted to the subaqueous condition. At last, one simulation of multiplex-motor control of subaqueous robot with two joints is experimented using Matlab/Simulink. According to the simulating result, the control method and dynamics model can be used to research multiplex-athletics control of subaqueous manipulator.
Keywords :
cerebellar model arithmetic computers; marine systems; mobile robots; motion control; three-term control; CMAC; PID control; altitudinal linear coupling system; multiplex-motor control; multiplexed control method; multiplexed movement control; multivariate coupling system; strong coupling system; subaqueous robot; wave force; Artificial neural networks; Control systems; Feedforward neural networks; Force control; Manipulator dynamics; Mathematical model; Motion control; Neural networks; Robot control; Three-term control;
Conference_Titel :
Intelligent Systems and Applications, 2009. ISA 2009. International Workshop on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-3893-8
Electronic_ISBN :
978-1-4244-3894-5
DOI :
10.1109/IWISA.2009.5073037
