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文章基本信息

  • 标题:Performance Analysis of a Neuro-PID Controller Applied to a Robot Manipulator
  • 作者:Saeed Pezeshki ; Sajad Badalkhani ; Ali Javadi
  • 期刊名称:International Journal of Advanced Robotic Systems
  • 印刷版ISSN:1729-8806
  • 电子版ISSN:1729-8814
  • 出版年度:2012
  • 卷号:9
  • 期号:5
  • 页码:163
  • DOI:10.5772/51280
  • 语种:English
  • 出版社:SAGE Publications
  • 摘要:The performance of robot manipulators with nonadaptive controllers might degrade significantly due to the open loop unstable system and the effect of some uncertainties on the robot model or environment. A novel Neural Network PID controller (NNP) is proposed in order to improve the system performance and its robustness. The Neural Network (NN) technique is applied to compensate for the effect of the uncertainties of the robot model. With the NN compensator introduced, the system errors and the NN weights with large dispersion are guaranteed to be bounded in the Lyapunov sense. The weights of the NN compensator are adaptively tuned. The simulation results show the effectiveness of the model validation approach and its efficiency to guarantee a stable and accurate trajectory tracking process in the presence of uncertainties.
  • 关键词:PID-NN Control; Neural Network Compensator; Model Free; Model Free Adaptive Controller; Robot Manipulator
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