대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1999년도 하계학술대회 논문집 B
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- Pages.519-521
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- 1999
도립 진자의 궤적 제어를 위한 적응 제어기의 설계
Design of Adaptive Fuzzy Controller to Inverted Pendulum Tracking
- Min, Hyun-Ki (Dept. of Control & Inst. Eng. Kwangwoon Univ.) ;
- Ryu, Chang-Wan (Dept. of Control & Inst. Eng. Kwangwoon Univ.) ;
- Shim, Jae-Chul (Dept. of Control & Inst. Eng. Kwangwoon Univ.) ;
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Yim, Hwa-Yeoung
(Dept. of Control & Inst. Eng. Kwangwoon Univ.)
- 발행 : 1999.07.19
초록
An adaptive fuzzy controller is constructed from a set of fuzzy IF-THEN rules whose parameters are adjusted on-line according to some adaptation law for the purpose of controlling the plant to track a given trajectory. Adaptive fuzzy controller of this paper is designed based on the Lyapunov synthesis approach The adaptive fuzzy controller is designed through the following steps: first, construct an initial controller based on linguistic descriptions(in the form of fuzzy IF-THEN rules) about the unknown plant from human experts; then, develop an adaptation law to adjust the parameters of the fuzzy controller on-line, the adaptive fuzzy controllers are used to control the inverted pendulum to track a given trajectory.
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