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   Position Control of a Pulse Width Modulated Pneumatic Systems: an Experimental Comparison  
نویسنده Jafari Sahar ,Najafi Farid ,Aliyari Shoorehdeli Mahdi
منبع international journal of robotics - 2013 - دوره : 3 - شماره : 1 - صفحه:57 -66
فایل تمام متن
چکیده    In this study, a new adaptive controller is proposed for position control of pneumatic systems. Difficulties associated with the mathematical model of the system; in addition to the instability caused by Pulse Width Modulation (PWM) in the learning-based controllers using gradient descent, motivate the development of a new approach for PWM pneumatics. In this study, two modified Feedback Error Learning (FEL) methods are suggested and the their effectiveness are validated by experimental tracking data. The first one is a combination of PD (Proportional–Derivative) and RBF (Radial Basis Function) and in the second one; RBF is replaced by ANFIS (Adaptive Neuro-Fuzzy Inference System). The robustness to varying mass is also examined. The experimental results show that the proposed algorithms, especially with ANFIS, are able to give good performance regardless of any uncertainties.
کلیدواژه ANFIS ,RBF neural network ,Modified Feedback Error Learning ,Pneumatic actuator ,Position control ,Pulse Width Modulation
آدرس Islamic Azad University Science and Research Branch , k.n.toosi university of technology , k.n.toosi university of technology
پست الکترونیکی aliyari@eetd.kntu.ac.ir

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