Research and Simulation on Multiplexed Movement Control of Subaqueous Robot Based on CMAC

Author

Hu Wenqiang

Author_Institution

Sch. of Software Eng., Huazhong Univ. of Sci. & Technol., Wuhan

fYear

2009

fDate

23-24 May 2009

Firstpage

1

Lastpage

4

Abstract

Subaqueous robot is an altitudinal linear, multivariate and strong coupling system working in a very complex condition and is interfered strength. Aiming at controlling the motion of subaqueous robot is very difficult, in this paper, one dynamic model in which wave force is considered is constructed; and one multiplexed control method based on CMAC and PID is designed. Thus the subaqueous robot has the ability of on-line learn and is adapted to the subaqueous condition. At last, one simulation of multiplex-motor control of subaqueous robot with two joints is experimented using Matlab/Simulink. According to the simulating result, the control method and dynamics model can be used to research multiplex-athletics control of subaqueous manipulator.

Keywords

cerebellar model arithmetic computers; marine systems; mobile robots; motion control; three-term control; CMAC; PID control; altitudinal linear coupling system; multiplex-motor control; multiplexed control method; multiplexed movement control; multivariate coupling system; strong coupling system; subaqueous robot; wave force; Artificial neural networks; Control systems; Feedforward neural networks; Force control; Manipulator dynamics; Mathematical model; Motion control; Neural networks; Robot control; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems and Applications, 2009. ISA 2009. International Workshop on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-3893-8

Electronic_ISBN

978-1-4244-3894-5

Type

conf

DOI

10.1109/IWISA.2009.5073037

Filename

5073037