A novel adaptive feed-forward-PID controller of a SCARA parallel robot using pneumatic artificial muscle actuator based on neural network and modified differential evolution algorithm.
Nguyen Ngoc SonCao Van KienHo Pham Huy AnhPublished in: Robotics Auton. Syst. (2017)
Keyphrases
- feed forward
- pid controller
- differential evolution algorithm
- control parameters
- control system
- neural network
- back propagation
- pid control
- closed loop
- control method
- bacterial foraging
- parallel robot
- artificial neural networks
- neural nets
- bp neural network
- fuzzy logic
- hidden layer
- fuzzy control
- control algorithm
- activation function
- control law
- pso algorithm
- differential evolution
- robot control
- evolutionary algorithm
- particle swarm optimization
- control scheme
- rbf neural network
- control strategy
- learning algorithm
- real time
- degrees of freedom
- simulated annealing
- optimization problems
- neural network model
- reinforcement learning
- machine learning