대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1999년도 하계학술대회 논문집 B
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- Pages.724-727
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- 1999
퍼지규칙에 의한 직/간접 혼합 신경망 적응제어시스템의 설계
Design of Combined Direct/Indirect Adaptive Neural Control System using Fuzzy Rule
- Jang, Soon-Ryong (School of Electrical Engineering, Gyeongsang National University) ;
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Choi, Jae-Seok
(School of Electrical Engineering, Gyeongsang National University) ;
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Lee, Soon-Young
(School of Electrical Engineering, Gyeongsang National University)
- 발행 : 1999.07.19
초록
In this paper, the direct and indirect neural adaptive controller are combined based on the Lyapunov synthesis approach. The proposed adaptive controller is constructed from RBF neural network and a set of fuzzy IF-THEN rules. And the weighting parameters are adjusted on-line according to some adaptation law for the purpose of controlling the plant to track a given trajectory. In this scheme, fuzzy IF-THEN rules are used to decide the combined weighting factor. It is shown that all the signals in the closed-loop system are uniformly bounded under mild assumptions. The effectiveness of the proposed control scheme is demonstrated through the control of one-link rigid robotics manipulator.
키워드