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

^*此作品的通信作者

電機工程學系

研究成果: Conference article › 同行評審

5 引文斯高帕斯（Scopus）

摘要

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.

原文	American English
頁（從 - 到）	769-774
頁數	6
期刊	Proceedings of the American Control Conference
卷	2
DOIs	https://doi.org/10.1109/ACC.2001.945808
出版狀態	Published - 1 1月 2001
事件	2001 American Control Conference - Arlington, VA, United States 持續時間: 25 6月 2001 → 27 6月 2001

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10.1109/ACC.2001.945808

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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.",

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AU - Lin, C. C.

AU - Chen, Fu-Chuang

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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.

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U2 - 10.1109/ACC.2001.945808

DO - 10.1109/ACC.2001.945808

M3 - Conference article

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SN - 0743-1619

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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

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