PD-SVM Integrated Controller for Robotic Manipulator Tracking Control

Q4 Engineering

工程设计学报 Pub Date : 2014-02-03 DOI:10.1155/2014/295210

Neha Kapoor, J. Ohri

引用次数: 2

Abstract

Highly precise tracking of a robotic manipulator in presence of uncertainties like noise, disturbances, and friction has been addressed in this particular paper. An integrated proportional derivative and support vector machine (SVMPD) controller has been proposed for manipulator tracking. To illustrate the efficiency of the proposed controller, simulations have been done on a 2-DOF manipulator system. Performance of the proposed controller has been checked and verified with respect to to a simple PID controller and the radial bias neural network proportional integral derivative (RBNNPD) controller. It has been proved that the proposed controller can achieve better tracking performance as compared to other controllers as the range of errors is less and the time taken by the controller has reduced up to 14 times as compared to RBNN.

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PD-SVM集成控制器用于机器人机械手跟踪控制

在存在不确定性的情况下，如噪声、干扰和摩擦，机器人机械臂的高精度跟踪已经在这篇特殊的论文中得到了解决。提出了一种用于机械手跟踪的比例导数与支持向量机(SVMPD)集成控制器。为了说明所提控制器的有效性，在一个二自由度机械臂系统上进行了仿真。通过简单的PID控制器和径向偏置神经网络比例积分导数(RBNNPD)控制器对所提控制器的性能进行了检验和验证。实验证明，与其他控制器相比，所提出的控制器可以获得更好的跟踪性能，因为误差范围更小，控制器所花费的时间比RBNN减少了14倍。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

工程设计学报 Engineering-Engineering (miscellaneous)

CiteScore

0.60

自引率

0.00%

发文量

2447

审稿时长

14 weeks

期刊介绍： Chinese Journal of Engineering Design is a reputable journal published by Zhejiang University Press Co., Ltd. It was founded in December, 1994 as the first internationally cooperative journal in the area of engineering design research. Administrated by the Ministry of Education of China, it is sponsored by both Zhejiang University and Chinese Society of Mechanical Engineering. Zhejiang University Press Co., Ltd. is fully responsible for its bimonthly domestic and oversea publication. Its page is in A4 size. This journal is devoted to reporting most up-to-date achievements of engineering design researches and therefore, to promote the communications of academic researches and their applications to industry. Achievments of great creativity and practicablity are extraordinarily desirable. Aiming at supplying designers, developers and researchers of diversified technical artifacts with valuable references, its content covers all aspects of design theory and methodology, as well as its enabling environment, for instance, creative design, concurrent design, conceptual design, intelligent design, web-based design, reverse engineering design, industrial design, design optimization, tribology, design by biological analogy, virtual reality in design, structural analysis and design, design knowledge representation, design knowledge management, design decision-making systems, etc.