CMAC与非线性PID复合控制器在机器人中的应用

Application of combined controller based on CMAC and nonlinear PID in robot

针对工业机器人是一个复杂的非线性■强耦合■多变量的动态系统,提出了CMAC与非线性PID复合控制器设计。该控制器由非线性PID反馈和CMAC前馈2部分构成,可消除初始输出力矩过大的弊端。采用非线性PID控制器替代经典PID控制器,因非线性积分环节可以随误差的变化进行调整,从而可以提高其自适应性和鲁棒性。CMAC学习速度快,网络收敛所需的训练次数少,可有效地用于机器人实时在线控制。仿真结果表明该设计方法具有有效性和可行性。

A CMAC and nonlinear PID combined controller is proposed for the complex nonlinear, strong coupling, multi-variable robot dynamic system. The controller is composed of nonlinear PID feedback and CMAC feed forward. It can avoid overloading the out-put torque. Nonlinear PID controller is substituted for classical PID controller, since the nonlinear integral part could be adjusted with the change of errors, thus its adaptability and robustness can be enhanced. CMAC learns fast and needs fewer training times when network convergence happens and could be used in the robot to realize real-time on-line control effectively. Finally the simulation results show the effectiveness and feasibility of the proposed algorithm.