Mobile robot-based antenna tracking system on RPV using intelligent neural controller

This research applied both the traditional PI-based and the neural control methods for a mobile robot-based antenna tracking system on RPV. Firstly, the antenna tracking and the stabilization loops were designed according to the bandwidth and phase margin requirements. However, the performances would be degraded if the tacking loop gain was reduced (such as degradation effect of antenna tracking loop gain) and the hysteresis effect existed in the tracking loop. On the other hand a neural controller was also applied for the design. Comparing the results with those obtained by the traditional PI-based controller, we note that the system performances obtained by the neural controller were better not only with parameter variations but hysteresis effects in the tracking loop. Thus the proposed system is more robust.