PD Control Compensation Based on a Cascade Neural Network Applied to a Robot Manipulator

PD Control Compensation Based on a Cascade Neural Network Applied to a Robot Manipulator

A Proportional Integral Derivative (PID) controller is commonly used to carry out tasks like position tracking in the industrial robot manipulator controller; however, over time, the PID integral gain generates degradation within the controller, which then produces reduced stability and bandwidth. A...

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Bibliographic Details
Main Authors: Luis Arturo Soriano, Erik Zamora, J. M. Vazquez-Nicolas, Gerardo Hernández, José Antonio Barraza Madrigal, David Balderas
Format: Article
Language:English
Published: Frontiers Media S.A. 2020-12-01
Series:Frontiers in Neurorobotics
Subjects:
cascade neural networks
robot manipulator
PD control
radial basis function
control compensation
Online Access:https://www.frontiersin.org/articles/10.3389/fnbot.2020.577749/full

Internet

https://www.frontiersin.org/articles/10.3389/fnbot.2020.577749/full

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