An Improved PID Controller for the Compliant Constant-Force Actuator Based on BP Neural Network and Smith Predictor

An Improved PID Controller for the Compliant Constant-Force Actuator Based on BP Neural Network and Smith Predictor

A compliant constant-force actuator based on the cylinder is an important tool for the contact operation of robots. Due to the nonlinearity and time delay of the pneumatic system, the traditional proportional–integral–derivative (PID) method for constant force control does not work so well. In this...

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Bibliographic Details
Main Authors: Guojin Pei, Ming Yu, Yaohui Xu, Cui Ma, Houhu Lai, Fokui Chen, Hui Lin
Format: Article
Language:English
Published: MDPI AG 2021-03-01
Series:Applied Sciences
Subjects:
compliant force control
PID
neural network
Smith predictor
Online Access:https://www.mdpi.com/2076-3417/11/6/2685

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https://www.mdpi.com/2076-3417/11/6/2685

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