Internal model controller with diagonal recurrent neural network for pneumatic robot servo system

Abstract

A new internal model controller for pneumatic robot servo system is presented, which has a three-layer feedforward neural network as controller (NNC) and a diagonal recurrent neural network (DRNN) as model predictor (NNM). The topology structures and learning algorithm for both NNM and NNC networks are discussed in this paper. The proposed control scheme is applied to a single rod pneumatic cylinder position control system and the experiment results indicate that the system has strong robustness for variation of system parameters and significantly improves the control performances of pneumatic actuators.