Research on Improved PD Control of Flexible Manipulator

Abstract

In order to achieve accurate trajectory tracking of flexible arm and improve the speed of position tracking, a PD (Proportion Differentiation) controller based on NNs(neural networks) is proposed.-Firstly, the dynamic model of a single-link flexible manipulator with load is established based on lumped method and assumed mode method. Moreover, the optimization of PD parameters is achieved by NNs, which improve the performance of PD control. Finally, simulations are given with the different load under the normal and the improved PD controller, which proves that the PD controller based on NNs has strong robustness and adapability.