제어로봇시스템학회:학술대회논문집
- 1992.10a
- /
- Pages.117-122
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- 1992
On design of a control scheme using fuzzy-neural network
퍼지-뉴럴 합성을 이용한 제어기의 설계
- Lim, Kwang-Woo (Dept. of Electronic Engineering Chung-Ang University) ;
-
Cho, Hyun-Chan
(Dept. of Electronic Engineering KITE)
;
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Kang, Hoon
(Dept. of Electronic Engineering Chung-Ang University)
;
-
Jeon, Hong-Tae
(Dept. of Electronic Engineering Chung-Ang University)
- Published : 1992.10.01
Abstract
The fuzzy-neural hybrid control system utilizing the fuzzy-neural network(FNN) will be presented in this paper. The basic structure of the controller is the parallel combination of a conventional P-controller and a FNN. Such a combination can guarantee the stability of a plant at initial stage before the rules are completely created. And a method how to automatically tunning the parameters of the FNN will be proposed with error back-propagation(BP) algorithm. Finally the effectiveness of the proposed strategy will be verified by computer simulations using a two DOF robot manipulator.
Keywords