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Optimal Neural Network Controller Design using Jacobian  

임윤규 (영남대학교 기계공학부)
정병묵 (영남대학교 기계공학부 대학원)
조지승 (영남대학교 기계공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.2, 2003 , pp. 85-93 More about this Journal
Abstract
Generally, it is very difficult to get a modeling equation because multi-variable system has coupling relations between its inputs and outputs. To design an optimal controller without the modeling equation, this paper proposes a neural-network (NN) controller being learned by Jacobian matrix. Another major characteristic is that the controller consists of two separated NN controllers, namely, proportional control part and derivative control part. Simulation results for a catamaran system show that the proposed NN controller is superior to LQR in the regulation and tracking problems.
Keywords
Multi-variable system; Neural Network Controller; Jacobian; Proportional Control; Derivative Control;
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Times Cited By KSCI : 5  (Citation Analysis)
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