궤도차량의 속도 및 자세 제어를 위한 뉴럴-퍼지 제어기 설계

Neural-Fuzzy Controller Design for the Azimuth and Velocity Control of a Track Vehicle

This paper presents a new approach to the design of neural-fuzzy controller for the speed and azimuth control of a track vehicle. The proposed control scheme uses a Gaussian function as a unit function in the frzzy-neural network, and back propagaton algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a track vehicle driven by two independent wheels.