Research on the controller of the ground testing system for space robot

Author

Chen, Sanfeng ; Wang, Huijing ; Ren, Xianyi ; Mei, Tao

Author_Institution

Inst. of Inf. Technol., Shenzhen Inst. of Inf. Technol., Shenzhen, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

2962

Lastpage

2966

Abstract

A novel PID controlling algorithm based on radial basic function neural networks (RBFNN) is proposed for the ground testing system for space robot. The testing system is with strong non-linearity and uncertainty. The parameters of PID controller are adjusted by RBFNN online. The torque is controlled by the output of circuit loop directly, which attains constant tense to simulate microgravity environment. The experimental results show that the controlling algorithm is effective, and the system is with good dynamic performance, sound robustness and good self-adaptive performance.

Keywords

aerospace robotics; aerospace testing; neurocontrollers; nonlinear control systems; radial basis function networks; three-term control; torque control; uncertain systems; PID controlling algorithm; ground testing system; radial basic function neural networks; space robot; torque control; Circuit simulation; Circuit testing; Control systems; Neural networks; Nonlinear dynamical systems; Orbital robotics; System testing; Three-term control; Torque control; Uncertainty; PID controller; RBFNN; circuit loop; space robot; torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246068

Filename

5246068