Electro-Hydraulic Servo Control Based on CMAC Neural Network for Excavating Robot

Qun Liang Dai; Hong Liang Dai; Xiao Hai Qu

doi:10.4028/www.scientific.net/AMM.34-35.825

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 34-35Electro-Hydraulic Servo Control Based on CMAC...

Electro-Hydraulic Servo Control Based on CMAC Neural Network for Excavating Robot

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volumes 34-35)

Pages:

825-830

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.34-35.825

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Online since:

October 2010

Authors:

Qun Liang Dai, Hong Liang Dai, Xiao Hai Qu

Keywords:

CMAC Neural Network, Dynamic, Electro-Hydraulic Servo System, Excavating Robot, Kinematics, Simulation

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References

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DOI: 10.1115/1.3426922

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