Electro-Hydraulic Servo Control Based on CMAC Neural Network for Excavating Robot
In this paper the electric-hydraulic servo system for excavating robot is analysed. The kinematic and the dynamic model of working equipment are established. Aim at the electric-hydraulic servo system of the feature with many variables, strong coupling and non-linear, the CMAC neural network was presented combined with popular PD algorithm, which could realize intelligent control for the working equipment of excavating robot. The result of simulation show that control strategy features higher precision and robustness.
Shengyi Li, Yingchun Liu, Rongbo Zhu, Hongguang Li, Wensi Ding
Q. L. Dai et al., "Electro-Hydraulic Servo Control Based on CMAC Neural Network for Excavating Robot", Applied Mechanics and Materials, Vols. 34-35, pp. 825-830, 2010