Title :
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
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;
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
DOI :
10.1109/CESA.2006.4281951
