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Neuroendocrine-Based Cooperative Intelligent Control System for Multiobjective Integrated Control of a Parallel Manipulator
Joint Authors
Ding, Yongsheng
Hao, Kuangrong
Guo, Chongbin
Source
Mathematical Problems in Engineering
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-09-12
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
This paper presents a novel multiloop and Multi-objective cooperative intelligent control system (MMCICS) used to improve the performance of position, velocity and acceleration integrated control on a complex multichannel plant.
Based on regulation mechanism of the neuroendocrine system (NES), a bioinspired motion control approach has been used in the MMCICS which includes four cooperative units.
The planning unit outputs the desired signals.
The selection unit chooses the real-time dominant control mode.
The coordination unit uses the velocity Jacobian matrix to regulate the cooperative control signals.
The execution unit achieves the ultimate task based on sub-channel controllers with the proposed hormone regulation self-adaptive Modules (HRSMs).
Parameter tuning is given to facilitate the MMCICS implementation.
The MMCICS is applied to an actual 2-DOF redundant parallel manipulator where the feasibility of the new control system is demonstrated.
The MMCICS keeps its subchannels interacting harmoniously and systematically.
Therefore, the plant has fast response, smooth velocity, accurate position, strong self-adaptability, and high stability.
The HRSM improves the control performance of the local controllers and the global system as well, especially for manipulators running at high velocities and accelerations.
American Psychological Association (APA)
Guo, Chongbin& Hao, Kuangrong& Ding, Yongsheng. 2012. Neuroendocrine-Based Cooperative Intelligent Control System for Multiobjective Integrated Control of a Parallel Manipulator. Mathematical Problems in Engineering،Vol. 2012, no. 2012, pp.1-17.
https://search.emarefa.net/detail/BIM-1001617
Modern Language Association (MLA)
Guo, Chongbin…[et al.]. Neuroendocrine-Based Cooperative Intelligent Control System for Multiobjective Integrated Control of a Parallel Manipulator. Mathematical Problems in Engineering No. 2012 (2012), pp.1-17.
https://search.emarefa.net/detail/BIM-1001617
American Medical Association (AMA)
Guo, Chongbin& Hao, Kuangrong& Ding, Yongsheng. Neuroendocrine-Based Cooperative Intelligent Control System for Multiobjective Integrated Control of a Parallel Manipulator. Mathematical Problems in Engineering. 2012. Vol. 2012, no. 2012, pp.1-17.
https://search.emarefa.net/detail/BIM-1001617
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1001617