Deterministic Learning-Based Neural PID Control for Nonlinear Robotic Systems

doi:10.1109/JAS.2024.124224

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	Deterministic Learning-Based Neural PID Control for Nonlinear Robotic Systems
	Qinchen Yang; Fukai Zhang; Cong Wang
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2024
卷号	11 期号:5 页码:1227-1238
摘要	Traditional proportional-integral-derivative (PID) controllers have achieved widespread success in industrial applications. However, the nonlinearity and uncertainty of practical systems cannot be ignored, even though most of the existing research on PID controllers is focused on linear systems. Therefore, developing a PID controller with learning ability is of great significance for complex nonlinear systems. This article proposes a deterministic learning-based advanced PID controller for robot manipulator systems with uncertainties. The introduction of neural networks (NNs) overcomes the upper limit of the traditional PID feedback mechanism’s capability. The proposed control scheme not only guarantees system stability and tracking error convergence but also provides a simple way to choose the three parameters of PID by setting the proportional coefficients. Under the partial persistent excitation (PE) condition, the closed-loop system unknown dynamics of robot manipulator systems are accurately approximated by NNs. Based on the acquired knowledge from the stable control process, a learning PID controller is developed to further improve overall control performance, while overcoming the problem of repeated online weight updates. Simulation studies and physical experiments demonstrate the validity and practicality of the proposed strategy discussed in this article.
关键词	Adaptive neural control (ANC) deterministic learning (DL) neural network (NN) robot manipulators
DOI	10.1109/JAS.2024.124224
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/55711
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Qinchen Yang,Fukai Zhang,Cong Wang. Deterministic Learning-Based Neural PID Control for Nonlinear Robotic Systems[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(5):1227-1238.
APA	Qinchen Yang,Fukai Zhang,&Cong Wang.(2024).Deterministic Learning-Based Neural PID Control for Nonlinear Robotic Systems.IEEE/CAA Journal of Automatica Sinica,11(5),1227-1238.
MLA	Qinchen Yang,et al."Deterministic Learning-Based Neural PID Control for Nonlinear Robotic Systems".IEEE/CAA Journal of Automatica Sinica 11.5(2024):1227-1238.

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