基于改进的单神经元网络PID控制的气动微型机器人控制系统研究

A Pneumatic Miniature Robotic Control System Based on Improved Single Neural Network PID Control

根据尺蠖蠕动原理,研制了一种三自由度柔性微型机器人控制系统.该机器人由空气橡胶驱动器驱动,采用一种改进的单神经元自适应PID控制器.软件仿真和实验结果证实该控制方法是一种可行的气动微型柔性机器人控制方法.

Pneumatic miniature robotic control system usually adopts PID control strategy at present. The basic PID control strategy has its limitations. To cope with this problem, a lot of methods to optimize this strategy have been researehed. An improved single neural network PID control strategy was presented. Both simulation and experimental results indicate that this scheme is a feasible control method for the 3-dof pneumatic miniature robotic control system.