A PID controller based on CMAC and Kalman filter

Author

Wei, Honglei ; Guo, Changyou

Author_Institution

Sch. of Electron. & Inf. Eng., Dalian Univ. of Technol., Dalian, China

Volume

1

fYear

2010

fDate

10-12 Aug. 2010

Firstpage

45

Lastpage

47

Abstract

The PID controllers are widely used in many engineering fields. The existence of the control disturbance and measurement error may greatly reduce the controller´s stabilization, and even lead the control to failure. In this paper, we proposed a novel PID controller, which use the cerebellar model articulation controller (CMAC) neural network to compensate the control error online and use the Kalman filter to diminish the affection of control disturbance and the measurement error. Simulation results show that the proposed controller work very well.

Keywords

Kalman filters; cerebellar model arithmetic computers; measurement errors; neurocontrollers; three-term control; CMAC; Kalmen filter; PID controller; cerebellar model articulation controller neural network; disturbance control; measurement error; Artificial neural networks; Equations; Kalman filters; Mathematical model; Measurement errors; Robots; Simulation; CMAC; Kalman filter; PID;

fLanguage

English

Publisher

ieee

Conference_Titel

Natural Computation (ICNC), 2010 Sixth International Conference on

Conference_Location

Yantai, Shandong

Print_ISBN

978-1-4244-5958-2

Type

conf

DOI

10.1109/ICNC.2010.5583138

Filename

5583138