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In this paper, we proposed a disturbance rejection control method to improve the position keeping accuracy of an underwater robot. Not like a ground robot, the controlling of a floating body is a critical requirement to acquire high quality sensor data from, for examples, a gyro, an underwater optical camera, and an imaging sonar. The proposed controller consists of a model-based robust compensator...
Introduce a short stroke precision stage which is Droven by the linear AC servo motor. We build the mathematical model of the linear motor and the servo control system. The PID controller of the linear AC servo system is designed by partial model matching method. Parameters analysis and experiments are done. The results shows that this model has good positioning accuracy, good dynamic performance...
In this paper, a novel model reference adaptive control (MRAC) scheme based on neural network (NN) is proposed for servo system tracking control to achieve high-precision position control. This scheme consists of an MRAC controller and an online NN controller in velocity-loop and a traditional PID controller in position-loop. For reducing influence which arose from modeling error, unknown model dynamics,...
A state observer based on classical dynamics and a closed loop control system consisted of the state observer are constructed. A general controller based on classical dynamics is constructed, which is explained in classical dynamics: the controlled plant output locus is controlled and led to the desired output locus using feedback control of position, speed and acceleration of the general controller...
The essential problem in controlling robots is to make the manipulator follow a desired trajectory. This paper presents the genetic algorithm tuned fuzzy PID controller (GAFPID) to follow the desired trajectory for a three degree of freedom (DOF) robot arm. Numerical simulation using the dynamic model of three DOF robot arm shows the effectiveness of the approach in trajectory tracking problems. Comparative...
This paper presents the optimal design of PID controller based on a particle swarm optimization (PSO) approach for position control using spring shape memory alloys (SMA) actuator. The mathematical model of experimental system had been approximate near the operating point for the PSO algorithm to adjust PID parameters for the minimum integrated absolute error (IAE) condition. The results show the...
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