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Adaptive PD Control Based on RBF Neural Network for a Wire-Driven Parallel Robot and Prototype Experiments
Joint Authors
Wang, Yuqi
Lin, Qi
Wang, Xiaoguang
Zhou, Fangui
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-02-12
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
An adaptive PD control scheme is proposed for the support system of a wire-driven parallel robot (WDPR) used in a wind tunnel test.
The control scheme combines a PD control and an adaptive control based on a radial basis function (RBF) neural network.
The PD control is used to track the trajectory of the end effector of the WDPR.
The experimental environment, the external disturbances, and other factors result in uncertainties of some parameters for the WDPR; therefore, the RBF neural network control method is used to approximate the parameters.
An adaptive control algorithm is developed to reduce the approximation error and improve the robustness and control precision of the WDPR.
It is demonstrated that the closed-loop system is stable based on the Lyapunov stability theory.
The simulation results show that the proposed control scheme results in a good performance of the WDPR.
The experimental results of the prototype experiments show that the WDPR operates on the desired trajectory; the proposed control method is correct and effective, and the experimental error is small and meets the requirements.
American Psychological Association (APA)
Wang, Yuqi& Lin, Qi& Wang, Xiaoguang& Zhou, Fangui. 2019. Adaptive PD Control Based on RBF Neural Network for a Wire-Driven Parallel Robot and Prototype Experiments. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-15.
https://search.emarefa.net/detail/BIM-1196584
Modern Language Association (MLA)
Wang, Yuqi…[et al.]. Adaptive PD Control Based on RBF Neural Network for a Wire-Driven Parallel Robot and Prototype Experiments. Mathematical Problems in Engineering No. 2019 (2019), pp.1-15.
https://search.emarefa.net/detail/BIM-1196584
American Medical Association (AMA)
Wang, Yuqi& Lin, Qi& Wang, Xiaoguang& Zhou, Fangui. Adaptive PD Control Based on RBF Neural Network for a Wire-Driven Parallel Robot and Prototype Experiments. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-15.
https://search.emarefa.net/detail/BIM-1196584
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1196584