Title :
A CMAC-Based Control Method for the Underwater Manipulator
Author :
Wang, Liquan ; Wang, Caidong ; Yao, Jianjun ; Wang, Zhuo
Author_Institution :
Coll. of Mech. & Electr. Eng., Harbin Eng. Univ., Harbin
Abstract :
Design of the underwater manipulator control system is difficult due to the particularity of the work environment, high nonlinearity and strong coupling of the dynamic model. In order to improve fine performance capacity, a new compound control method based on the cerebellar model articulation controller (CMAC) is proposed, and the compound controller based on CMAC is designed. Simulation experiments have been developed to verify the effectively of the new compound control method, and the results compared with PID control strategy show that the new method based on CMAC has an excellent system performance including high precision trajectory tracking ability, good real-time performance and strong anti-interference. The new compound control method is suitable for the underwater manipulator control system.
Keywords :
cerebellar model arithmetic computers; manipulators; neurocontrollers; position control; underwater vehicles; CMAC-based control; PID control; cerebellar model articulation controller; compound control method; trajectory tracking; underwater manipulator control system; Control system synthesis; Control systems; Couplings; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; System performance; Three-term control; Trajectory; Underwater tracking; Cerebellar model articulation controller; PID controller; Underwater manipulator;
Conference_Titel :
Computational Intelligence and Industrial Application, 2008. PACIIA '08. Pacific-Asia Workshop on
Conference_Location :
Wuhan
Print_ISBN :
978-0-7695-3490-9
DOI :
10.1109/PACIIA.2008.140
