DocumentCode :
2313993
Title :
An adaptive multilayer neural network for trajectory tracking control of a pneumatic cylinder
Author :
Gross, David C. ; Rattan, Kuldip S.
Author_Institution :
Veridian-Veda Oper., Dayton, OH, USA
Volume :
2
fYear :
1998
fDate :
11-14 Oct 1998
Firstpage :
1662
Abstract :
Many industrial applications use pneumatic cylinders to position loads using a rectilinear motion. Classical industrial control techniques allow pneumatic cylinders to position loads to a high degree of accuracy. However, these techniques do not allow for trajectory tracking control because they cannot compensate for the nonlinear nature of the compressed air flow and of the internal friction present in the cylinders. Multilayer neural networks (MNN) can be used to compensate for the nonlinear nature of these dynamic systems. For this study, a MNN was designed to be an inverse model of the cylinder and was used in conjunction with a PID feedback controller for the cylinder motion. An off-line adaptive MNN provides initial training to the controller resulting in the ability to track the desired trajectory. Once the controller has been designed, an online adaptive MNN is used for continued learning as the system dynamics change over time
Keywords :
adaptive control; compensation; control nonlinearities; control system synthesis; feedback; industrial control; multilayer perceptrons; neurocontrollers; pneumatic control equipment; position control; three-term control; tracking; PID feedback controller; adaptive multilayer neural network; compressed air flow; cylinder motion; industrial control techniques; internal friction; load positioning; multilayer neural networks; nonlinearities; off-line adaptive MNN; pneumatic cylinder; rectilinear motion; trajectory tracking control; Adaptive control; Adaptive systems; Friction; Industrial control; Inverse problems; Multi-layer neural network; Neural networks; Programmable control; Three-term control; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on
Conference_Location :
San Diego, CA
ISSN :
1062-922X
Print_ISBN :
0-7803-4778-1
Type :
conf
DOI :
10.1109/ICSMC.1998.728129
Filename :
728129
Link To Document :
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