On a new CMAC control scheme, and its comparisons with the PID controllers

C. C. Lin; Fu-Chuang Chen

doi:10.1109/ACC.2001.945808

On a new CMAC control scheme, and its comparisons with the PID controllers

C. C. Lin^*, Fu-Chuang Chen

^*Corresponding author for this work

Department of Electrical and Computer Engineering

Research output: Contribution to journal › Conference article › peer-review

5 Scopus citations

Abstract

The behaviors and stability of a new CMAC control scheme are studied, whose comparisons with PID controllers are also investigated. Unlike the traditional role of modeling inverse system dynamics, the CMAC controller is proposed to emulate the PD plus gravity-compensation control for robotics. In this new control scheme, the CMAC produces enormous integration action when the input vector moves slowly in the space so that it can respond quickly to large loads. On the other hand, it can also forget efficiently when the input vector moves fast in the space so that it is not burdened by previous integration. It is shown that the CMAC control system can converge into the target position. The systems employed in this study are one-link and two-link robotics.

Original language	American English
Pages (from-to)	769-774
Number of pages	6
Journal	Proceedings of the American Control Conference
Volume	2
DOIs	https://doi.org/10.1109/ACC.2001.945808
State	Published - 2001
Event	2001 American Control Conference - Arlington, VA, United States Duration: 25 Jun 2001 → 27 Jun 2001

Access to Document

10.1109/ACC.2001.945808

Cite this

@article{6c84dba0a7db46b19733567474289718,

title = "On a new CMAC control scheme, and its comparisons with the PID controllers",

abstract = "The behaviors and stability of a new CMAC control scheme are studied, whose comparisons with PID controllers are also investigated. Unlike the traditional role of modeling inverse system dynamics, the CMAC controller is proposed to emulate the PD plus gravity-compensation control for robotics. In this new control scheme, the CMAC produces enormous integration action when the input vector moves slowly in the space so that it can respond quickly to large loads. On the other hand, it can also forget efficiently when the input vector moves fast in the space so that it is not burdened by previous integration. It is shown that the CMAC control system can converge into the target position. The systems employed in this study are one-link and two-link robotics.",

author = "Lin, {C. C.} and Fu-Chuang Chen",

year = "2001",

doi = "10.1109/ACC.2001.945808",

language = "American English",

volume = "2",

pages = "769--774",

journal = "Proceedings of the American Control Conference",

issn = "0743-1619",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2001 American Control Conference ; Conference date: 25-06-2001 Through 27-06-2001",

}

TY - JOUR

T1 - On a new CMAC control scheme, and its comparisons with the PID controllers

AU - Lin, C. C.

AU - Chen, Fu-Chuang

PY - 2001

Y1 - 2001

N2 - The behaviors and stability of a new CMAC control scheme are studied, whose comparisons with PID controllers are also investigated. Unlike the traditional role of modeling inverse system dynamics, the CMAC controller is proposed to emulate the PD plus gravity-compensation control for robotics. In this new control scheme, the CMAC produces enormous integration action when the input vector moves slowly in the space so that it can respond quickly to large loads. On the other hand, it can also forget efficiently when the input vector moves fast in the space so that it is not burdened by previous integration. It is shown that the CMAC control system can converge into the target position. The systems employed in this study are one-link and two-link robotics.

AB - The behaviors and stability of a new CMAC control scheme are studied, whose comparisons with PID controllers are also investigated. Unlike the traditional role of modeling inverse system dynamics, the CMAC controller is proposed to emulate the PD plus gravity-compensation control for robotics. In this new control scheme, the CMAC produces enormous integration action when the input vector moves slowly in the space so that it can respond quickly to large loads. On the other hand, it can also forget efficiently when the input vector moves fast in the space so that it is not burdened by previous integration. It is shown that the CMAC control system can converge into the target position. The systems employed in this study are one-link and two-link robotics.

UR - http://www.scopus.com/inward/record.url?scp=0034841783&partnerID=8YFLogxK

U2 - 10.1109/ACC.2001.945808

DO - 10.1109/ACC.2001.945808

M3 - Conference article

AN - SCOPUS:0034841783

SN - 0743-1619

VL - 2

SP - 769

EP - 774

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

T2 - 2001 American Control Conference

Y2 - 25 June 2001 through 27 June 2001

ER -

On a new CMAC control scheme, and its comparisons with the PID controllers

Abstract

Access to Document

Other files and links

Fingerprint

Cite this