Designing a Muscle like System Based on PID Controller and Tuned by Neural Network

This paper presents a study on a muscle like system based on a PID controller tuned by a neural network. The approach is based on a non linear muscle model using system identification based on a NNARX (neural network autoregressive exogenous) structure. This model is used in a special configuration...

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Bibliographic Details
Main Authors: Serhan, H.J., Nasr, C.G., Henaff, P.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
DC motors
Humans
Leg
Legged locomotion
Linear systems
Muscles
Neural networks
System identification
Three-term control
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Summary:This paper presents a study on a muscle like system based on a PID controller tuned by a neural network. The approach is based on a non linear muscle model using system identification based on a NNARX (neural network autoregressive exogenous) structure. This model is used in a special configuration of an MLP in order to let the output of the closed loop formed by the motor and controller to follow that of this non linear muscle model. Two structures are compared and the robustness of the approach is tested with different models of DC motors.
ISSN:2161-4393
2161-4407
DOI:10.1109/IJCNN.2006.247203