제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A CMAC network based controller

  • Koo, Keun-Mo (Department of Electrical Engineering, Korea Advanced Insititute of Science and Technology (KAIST)) ;
  • Kim, Jong-Hwan (Department of Electrical Engineering, Korea Advanced Insititute of Science and Technology (KAIST))
  • Published : 1994.10.01
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Abstract

This paper presents a CMAC network based controller on the basis of Lyapunov theory. CMAC network is employed to approximate and to compensate the uncertainties induced by inaccurate modelling of the system. For the improvement of robustness under the bounded disturbances and the approximation error of the CMAC, the adaptation scheme with a deadzone and an additional control input are developed.

Keywords