Research Article
Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller
Figure 15
Variance of parameters of RBFNN PID controller (, , and ) under square excitation of frequency 0.1 Hz and amplitude of 20 mm. (a)–(c) Outer position RBFNN PID parameters , , and , respectively; (d)–(f) inner pressure RBFNN PID parameters , , and , respectively.
(a) |
(b) |
(c) |
(d) |
(e) |
(f) |