Abstract
Cerebellar model articulation controller and proportional derivative (CMAC+PD) compound control strategy had an unsmooth output, which would increase the vibration of loading motor and decrease the control performance. An improved CMAC+PD compound control strategy with a new weights updating formula was proposed after analyzing the reason of the unsmooth problem. The improved CMAC+PD compound control strategy could not only decrease the error, but also improve the output smoothness in the weights updating process. The simulation and experimental results demonstrated that the improved CMAC+PD compound control strategy has a more smooth output and a better stability performance than the conventional CMAC+PD compound control strategy. And the steady state error is reduced by 21%.
| Original language | English |
|---|---|
| Pages (from-to) | 723-727 |
| Number of pages | 5 |
| Journal | Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics |
| Volume | 39 |
| Issue number | 6 |
| State | Published - Jun 2013 |
Keywords
- Cerebellar model articulation controller (CMAC)
- Electric loading system
- Weight smoothing
- Weights updating formula
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