A Study on Intelligent Control for Hybrid Actuator

  • Ke Zhang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3972)


A hybrid actuator is presented in this paper. Hybrid actuator is a new type of planar parallel robot, and requires precise control of the position of the mechanism. In order to achieve the desired accuracies, nonlinear factors as friction must be accurately compensated in the real-time servo control algorithm. According to the characteristics of the hybrid actuator, a hybrid intelligent control algorithm based on PID control and cerebellar model articulation control (CMAC) techniques was presented and used to perform control of hybrid actuator for the first time. Simulation results show that this method can improve the control effect remarkably compared with the tradi- tional control strategy.


Limit Cycle Oscillation Nonlinear Factor Hybrid Machine Hybrid Controller Hybrid Actuator 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Ke Zhang
    • 1
  1. 1.School of Mechanical and Automation EngineeringShanghai Institute of TechnologyShanghaiP.R. China

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