Application of smith predictor using neural network to terminate delay process in pid controlling two-link robot arm
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hainvd@hcmute.edu.vnKeywords:
two-link robot arm, Smith predictor, neural network, PID controllerAbstract
Two-link robot arm is a typical MIMO system in testing control algorithm. Using PID controller for non-delay systems has been successfully researched. In reality, delay process always happens, such as delay of network, delay of slow processing feedback of sensor. Because of that, PID controller does not respond well anymore. A solution suggested in this paper is application of a Smith Predictor using neural network to ensure that PID controller responds well even though delay process is remarkable. The result is proved doing well over experiment.
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