Original scientific paper
https://doi.org/10.1080/00051144.2021.1954782
Research on parallel control of CMAC and PD based on U model
Fengxia Xu
; College of Mechanical and Electrical Engineering, Qiqihar University, Qiqihar, People’s Republic of China
Junhua Xu
; College of Computer and Control Engineering, Qiqihar University, Qiqihar, People’s Republic of China
Jiaqi Zhang
; College of Computer and Control Engineering, Qiqihar University, Qiqihar, People’s Republic of China
Chunda Zhang
; College of Computer and Control Engineering, Qiqihar University, Qiqihar, People’s Republic of China
Zifei Wang
; College of Computer and Control Engineering, Qiqihar University, Qiqihar, People’s Republic of China
Abstract
In this paper, the nonlinear U model with time-varying coefficients is investigated and the transformation of the nonlinear model is accomplished by the Newton iterative algorithm. Based on the nonlinear U model, a control algorithm with cerebellar model articulation controller and proportional derivative (PD) in parallel is proposed. The algorithm learns online through a neural network while optimizing the output of the PD, which ultimately enables the actual output of the system to track up to the desired output. Considering that the nonlinear object has the characteristic of rapid change with time, the article improves the PD algorithm to nonlinear PD control algorithm to complete the design of the system. The algorithm automatically adjusts the weights according to the error magnitude to complete the controller parameter adjustment, thus reducing the error of the system. The simulation results show that the nonlinear PD algorithm is better than the PD algorithm, meanwhile, the tracking speed and control precision of the system are improved.
Keywords
Nonlinear U model; Newton iteration; CMAC neural network; nonlinear PD
Hrčak ID:
269847
URI
Publication date:
20.10.2021.
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