The Simulation of Robot Control Based on CMAC Neural Network PID Control Algorithm

Jian Li Yu; Ya Zhou Di; Lei Yin

doi:10.4028/www.scientific.net/AMM.336-338.659

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 336-338The Simulation of Robot Control Based on CMAC...

The Simulation of Robot Control Based on CMAC Neural Network PID Control Algorithm

Abstract:

According to the problem of nonlinear and uncertainty in robot control, this paper proposes a PID control algorithm based on CMAC neural network model, for the elimination of the influence of uncertainty caused by robot system parameters and external disturbance. The simulation results show that this algorithm can effectively overcome the uncertainties and external disturbance of robot system model, this algorithm has good robustness and stability, its performance is superior to the traditional PID control algorithm.

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Periodical:

Applied Mechanics and Materials (Volumes 336-338)

Pages:

659-663

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.336-338.659

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Online since:

July 2013

Authors:

Jian Li Yu, Ya Zhou Di, Lei Yin

Keywords:

Cerebellum Model, Driving System, Neural Network (NN), PID Control, Robot

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