Neuro-PID Control of Hybrid Machines With 2-DOF for Trajectory Tracking Problems

A hybrid-driven machine is such a machine where its drive system combines the servomotor and the constant velocity motor, and the machine has the advantage of application flexibility and low cost. In practical application, accurate trajectory control of this machine is essential. To achieve excellent tracking performance, two control approaches, the traditional proportion differential (PD) control and the Neuro-PID (proportion integral differential) control, are adopted to control a hybrid-driven five-bar mechanism in this paper. The control performance of each control approach are compared and simulation results show that the neuro-PID controller is much more effective than the PD controller in terms of the reduction in position tracking errors.