제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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- Pages.634-637
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- 1994
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))
- 발행 : 1994.10.01
초록
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.
키워드