串联机器人轨迹跟踪控制模糊自适应PID算法的误差修正  

Error correction of fuzzy adaptive PID algorithm for trajectory tracking control of serial robot

作　　者：赫建立 朱龙英[2] 成磊[1] 郑帅[3] 陆宝发[4] 

机构地区：[1]常州大学机械工程学院,江苏常州213164 [2]盐城工学院汽车工程学院,江苏盐城224001 [3]安徽理工大学机械工程学院,安徽淮南232001 [4]江苏大学机械工程学院,江苏镇江212013

出　　处：《电子技术应用》2015年第1期60-63,67,共5页Application of Electronic Technique

摘　　要：提出了一种基于改进PID控制算法的串联机器人轨迹跟踪控制策略,首先采用减聚类的方法和改进的Logistic映射对RBF神经网络进行聚类中心的优化,然后将改进RBF神经网络中的自适应学习机制和自调整能力应用于传统PID控制算法中,对PID控制算法进行最优PID控制参数的选取。仿真实验表明,提出的串联机器人轨迹跟踪控制策略相比较传统PID控制算法,其误差更小,精度更高。This paper proposed a trajectory tracking control strategy of serial robot based on RBF neural network optimized PID control algorithm. The adaptive learning mechanism neural network and self adjusting ability in the RBF were applied to traditional PID control algorithm. The optimal parameters of the PID control algorithm was selected. Compared with traditional PID control algo- rithm, the simulation experiments showed that the proposed optimized PID control algorithm based on RBF neural network in series robot trajectory tracking control strategy had smaller error and higher accuracy.

关 键 词：PID控制算法 RBF神经网络 误差修正 串联机器人 轨迹跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]