Research on CMAC control algorithm for a soft joint

Author

Zhao, Huailin ; Sugisaka, Masanori ; Jiang, Enyu

Author_Institution

Sch. of Mech. & Autom. Eng., Shanghai Inst. of Technol., Shanghai, China

fYear

2009

fDate

5-8 July 2009

Firstpage

1967

Lastpage

1972

Abstract

As to the robot joint actuated by a pair of McKibben muscles, a CMAC neural network and PID based compound control algorithm is designed. The CMAC as a feed forward compensator realizes the reverse dynamic model of the robot joint. The PID controller realizes the feed back control in order to guarantee the stability of the system. The output of the compound controller is exerted to the robot joint. CMAC regulates its network weights by on line learning and forces the PID output to tend to zero, so that the total control action is generated by CMAC. Some simulations are done and they have proved that the compound control algorithm has good tracking performance and anti-disturbance ability. And it behaves fast responding.

Keywords

actuators; cerebellar model arithmetic computers; compensation; control system synthesis; feedback; feedforward; neurocontrollers; robot dynamics; stability; three-term control; CMAC control algorithm; McKibben muscle; PID-based compound control algorithm design; cerebellar model arithmetic computer; feedback control; feedforward compensator; neural network; reverse dynamic model; robot joint actuator; soft joint; stability; Algorithm design and analysis; Automatic control; Control systems; Feeds; Muscles; Robotics and automation; Robots; Robust control; Rubber; Three-term control; CMAC; McKibben muscle; PID; control algorithm; soft joint;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on

Conference_Location

Seoul

Print_ISBN

978-1-4244-4347-5

Electronic_ISBN

978-1-4244-4349-9

Type

conf

DOI

10.1109/ISIE.2009.5214291

Filename

5214291