제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)
- 제5권7호
- /
- Pages.808-813
- /
- 1999
- /
- 1976-5622(pISSN)
- /
- 2233-4335(eISSN)
불안정한 다변수 시스템에 대한 퍼지 학습제어
Fuzzy Learning Control for Multivariable Unstable System
초록
A fuzzy learning method to control an unstable and multivariable system is presented in this paper, Because the multivariable system has generally a coupling effect between the inputs and outputs, it is difficult to find its modeling equation or parameters. If the system is unstable, initial condition rules are needed to make it stable because learning is nearly impossible. Therefore, this learning method uses the initial rules and introduces a cost function composed of the actual error and error-rate of each output without the modeling equation. To minimize the cost function, we experimentally got the Jacobian matrix in the operating point of the system. From the Jacobian matrix, we can find the direction of the convergence in the learning, and the optimal control rules are finally acquired when the fuzzy rules are updated by changing the portion of the errors and error rates.