神经元自适应PSD控制在气动人工肌肉力控制中的应用

Study on the Force Control of Pneumatic Muscle Actuator with the Neural-PSD Adaptive Algorithm

介绍了神经元自适应PSD控制器的设计方法 ,并将其应用到气动人工肌肉的力控制研究。研究表明 ,这种控制器的神经元学习和增益在线自调整算法使其对气动人工肌肉的力控制具有很强的自适应性 ,控制响应快、精度高。

An adaptive neural-PSD controller was introduced.The research indicates that the controller with algorithms of neural learning and self-regulated gain on line is adaptive,quick and high precision in the force control of the pneumatic muscle actuator.