The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Intelligent Online Control for Nonlinear Mechanical Systems with Random Friction Effect

확률마찰특성을 갖는 비선형 기계시스템을 위한 지능형 온라인 제어시스템

  • Published : 2007.12.01
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Abstract

This paper presents online neural control approach for nonlinear mechanical systems with random friction nature. We construct neural auxiliary control to compensate a control error in online for overcoming friction effect which reduces control performance in real-time implementation. Friction dynamics is estimated by using online least square(LS) method, which is utilized for online learning of the neural network. We accomplish computer simulation for evaluating the proposed control approach comparing offline control method to demonstrate its superiority.

Keywords

References

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