论文标题
设计一个基于AI的自适应控制器，并使用配备振动执行器的微型机器人增强系统标识符
Designing an AI-Based Adaptive Controller Augmented with a System Identifier for a Micro-Class Robot Equipped with a Vibrating Actuator
论文作者
论文摘要
在本文中，基于使用神经网络的自适应控制方案旨在保证配备振动执行器的微型机器人的期望行为，并遵循滑动运动的原理。有两个微小的摇动电动机已被用来运行微型机器人系统。动态建模方程是通过考虑碱基的弹簧系数来表达的。之后，研究了春季对基础的影响。除了设计基于神经的控制器外，还开发了基于AI的系统标识符，以帮助控制器更新其参数并实现所需的目标。使用此方法，模拟了该微型机器人运动的几个特定路径。基于模拟结果，提出的控制策略保证了由于绘制接近零误差而导致不同路径的可接受性能，并处理微型机器人系统的非线性行为。
In this paper, an adaptive control scheme based on using neural networks is designed to guarantee the desired behavior of a micro-robot which is equipped with vibrating actuators and follows the principle of slip-stick movement. There are two tiny shaking motors which have been utilized to run the micro-class robotic system. Dynamic modeling equations are expressed by considering the spring coefficient of the bases. After that, the effect of the spring on the foundations was investigated. In addition to designing neural-based controller, an AI-based system identifier has been developed to help the controller update its parameters and achieve its desired targets. Using this method, several specific paths for the movement of this micro robot are simulated. Based on the simulation results, the proposed controlling strategy guarantees acceptable performance for tracking different paths due to plotted near-zero errors and handles the nonlinear behavior of the micro-robot system.
