Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Robust Tracking Control of a Flexible Joint Robot System using a CMAC Neural Network Disturbance Observer

CMAC 신경망 외란관측기를 이용한 유연관절 로봇의 강인 추적제어

  • 김은태 (연세대학교 전기전자공학부)
  • Published : 2003.09.01
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Abstract

The local structure of CMAC neural networks (NN) results in better and faster controllers for nonlinear dynamical systems. In this paper, we propose a CMAC NN-based disturbance observer and its corresponding controller for a flexible joint robot. The CMAC NN-based disturbance observer compensates for the parametric uncertainties and the external disturbances throughout the entire mechanical system. Finally, a simulation result is given to demonstrate the effectiveness of proposed design method's robust tracking performance.

CMAC 신경망은 지역적 구조로 비선형제어에 적용 시 좋은 성능을 보이는 것이 잘 알려져 있다. 본 논문에서는 CMAC 신경망 외란관측기와 제어기를 제안하고 이를 유연관절 로봇의 강인 추적제어에 적용하도록 한다. 이때 CMAC 신경망 외란관측기는 기계시스템에서 발생하는 파라미터의 불확실성과 외부 외란을 상쇄하는 역할을 한다. 컴퓨터 모의 실험을 통하여 본 논문에서 제안한 CMAC 외란관측기를 유연관절 로봇의 제어에 적용하고 그 성능을 확인하도록 한다.

Keywords

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