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

Author

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

Author_Institution

College of mechanical science and engineering, JiLin University., 5988 Renmin Street, Changchun, China. Phone: +861-13943032868, E-mail: szfengok@sohu.com

fYear

2006

fDate

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

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, China

Print_ISBN

7-302-13922-9

Electronic_ISBN

7-900718-14-1

Type

conf

DOI

10.1109/CESA.2006.313626

Filename

4105692