Research on RBF-PID Control for the 6-DOF Motion Base in Construction Tele-robot System

Author

Feng, Shizhu ; Xu, Ming ; Zhao, Dingxuan ; Zhang, Hongyan ; Tang, Xingxing ; Weng, Guang

Author_Institution

Coll. of Mech. Sci. & Eng., JiLin Univ., Changchun

Volume

2

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

1915

Lastpage

1920

Abstract

In this paper, according to the real experiment device, we deduced the model of the electro-hydraulic servo valve and the dissymmetric hydraulic cylinder, a new RBF-PID controller was developed based on it to form a closed-loop system for the 6-DOF motion base in a tele-robotic system. To verify the validity of the design, a simulation is done. The simulation results show that RBF neural network is effective for electro hydraulic servo control systems. To control the 6-DOF realistic motions according to the signals of six acceleration sensors on the construction tele-robot, an experiment is also done. The validity of the control system was confirmed by experiment result. The control system performs steadily. And the experimental result indicates that the RBF neural network can enhances the robust control, which has reality significance.

Keywords

acceleration control; closed loop systems; electrohydraulic control equipment; motion control; neurocontrollers; radial basis function networks; robust control; telerobotics; three-term control; valves; 6-DOF motion base; RBF neural network; RBF-PID control; acceleration sensor; closed-loop system; dissymmetric hydraulic cylinder; electro-hydraulic servo valve; robust control; telerobot system; Control systems; Engine cylinders; Force sensors; Motion control; Neural networks; Robot sensing systems; Servomechanisms; Systems engineering and theory; Three-term control; Vehicles; 6 DOF motion base; RBF-PID control system; construction tele-robot system; system modeling; teleoperation;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Engineering in Systems Applications, IMACS Multiconference on

Conference_Location

Beijing

Print_ISBN

7-302-13922-9

Electronic_ISBN

7-900718-14-1

Type

conf

DOI

10.1109/CESA.2006.4281951

Filename

4281951