An Improved PID Controller for the Compliant Constant-Force Actuator Based on BP Neural Network and Smith Predictor
نویسندگان
چکیده
A compliant constant-force actuator based on the cylinder is an important tool for contact operation of robots. Due to nonlinearity and time delay pneumatic system, traditional proportional–integral–derivative (PID) method constant force control does not work so well. In this paper, improved PID combining a backpropagation (BP) neural network Smith predictor proposed. Through MATLAB simulation experimental validation, results show that proposed can shorten maximum overshoot adjustment compared with method.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2021
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app11062685