제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.499-502
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- 1996
Fuzzy iterative learning controller for dynamic plants
퍼지 반복 학습제어기를 이용한 동적 플랜트 제어
Abstract
In this paper, we propose a fuzzy iterative learning controller(FILC). It can control fully unknown dynamic plants through iterative learning. To design learning controllers based on the steepest descent method, it is one of the difficult problems to identify the change of plant output with respect to the change of control input(.part.e/.part.u). To solve this problem, we propose a method as follows: first, calculate .part.e/.part.u using a similarity measure and information in consecutive time steps, then adjust the fuzzy logic controller(FLC) using the sign of .part.e/.part..u. As learning process is iterated, the value of .part.e/.part.u is reinforced. Proposed FILC has the simple architecture compared with previous other controllers. Computer simulations for an inverted pendulum system were conducted to verify the performance of the proposed FILC.
Keywords
- iterative learning;
- a self-organizing;
- a steepest descent;
- a fuzzy logic controller;
- a inverted pendulum