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Model reference adaptive PID control of hydraulic parallel robot based on RBF neural network

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3 Author(s)
Zhongcai Pei ; Sch. of Autom. Sci. & Electr. Eng., BeiHang Univ., Beijing ; Yanfang Zhang ; Zhiyong Tang

In this paper, to improve the control performance of hydraulic parallel robot, we develop a model reference adaptive PID control based on radial basis function (RBF) neural network. To compensate for the asymmetry of the hydraulic actuator, we adopt model reference adaptive control strategy. Moreover, a RBF neural network is used to identify the hydraulic servo system on-line and then regulate the PID parameters on-line, which makes the system more adaptive. Simulation results show the controller has good tracking performance and good robustness, so the control strategy presented in this paper is effective.

Published in:

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Date of Conference:

15-18 Dec. 2007

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