대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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- Pages.812-814
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- 1999
제어구조 변경과 신경망 보정에 의한 적응제어에 관한 연구
A Research on the Adaptive Control by the Modification of Control Structure and Neural Network Compensation
- Kim, Yun-Sang (Dept. of Electrical and Control Eng. Hongik Univ.) ;
- Lee, Jong-Soo (Dept. of Electrical and Control Eng. Hongik Univ.) ;
- Choi, Kyung-Sam (Dept. of Electrical and Control Eng. Hongik Univ.)
- 발행 : 1999.11.20
초록
In this paper, we propose a new control algorithm based on the neural network(NN) feedback compensation with a desired trajectory modification. The proposed algorithm decreases trajectory errors by a feed-forward desired torque combined with a neural network feedback torque component. And, to robustly control the tracking error, we modified the desired trajectory by variable structure concept smoothed by a fuzzy logic. For the numerical simulation, a 2-link robot manipulator model was assumed. To simulate the disturbance due to the modelling uncertainty. As a result of this simulation, the proposed method shows better trajectory tracking performance compared with the CTM and decreases the chattering in control inputs.