• 한국지능시스템학회논문지
• /
• 제8권3호
• /
• pp.9-15
• /
• 1998

본 논문은 뉴로제어 및 반복학습 제어기법에 기반한 미지의 비선형시스템의 적응학습제어 방법을 제안한다. 제안된 제어 시스템에서 반복학습제어기는 새로운 기준 궤적에 대해 시스템의 출력이 원하는 궤적으로 정확히 수렴하도록 하는 적응과 단기간 제어정보를 기억하는 기능을 수행한다. 상대차수만 알고 있는 미지 시스템에 대한 박복학습 법칙이 학습이득은 신경회로망을 이용하여 추정된다. 반복학습제어기에 의해 습득된 제어정보는 장기메모리에 기반한 앞먹임 뉴로제어기로 이전되어 누적기억됨으로써 과거에 겸험된 기준 궤적에 대해서는 신속하게 추종할 수 있도록 한다. 2자유도 매니퓰레이터에 적용하여 제안된 기법의 타당성을 검증한다.

• 제어로봇시스템학회논문지
• /
• 제3권4호
• /
• pp.363-372
• /
• 1997

In this paper, the design and the implementation of the adaptive learning rate neural network controller for an articulate robot, which is being developed (or) has been developed in our Automatic Control Laboratory, are mainly discussed. The controller reduces software computational load via distributed processing method using multiple CPU's, and simplifies hardware structures by the time-division control with TMS32OC31 DSP chip. Proposed neural network controller with adaptive learning rate structure using expert's heuristics can improve learning speed. The proposed controller verifies its superiority by comparing response characteristics of conventional controller with those of the proposed controller that are obtained from the experiments for the 5 axis vertical articulated robot. We, also, present the generalization property of proposed controller for unlearned trajectory and the change of load through experimental data.

• 제어로봇시스템학회논문지
• /
• 제4권2호
• /
• pp.178-186
• /
• 1998

In this paper, a robust.adaptive learning control scheme is presented for precise trajectory tracking of rigid mobile robots. In the proposed controller, a set of desired trajectories is defined and used in constructing the control input and learning rules which constitute the main part of the proposed controller. Stable operating characteristics such as precise trajectory tracking, parameter estimation, disturbance suppression, etc., are shown thorugh experiments and computer simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.161.4-161
• /
• 2001

This paper presents adaptive control of robot manipulator using neuro-fuzzy controller Fuzzy logic is control incorrect system without correct mathematical modeling. And, neural network has learning ability, error interpolation ability of information distributed data processing, robustness for distortion and adaptive ability. To reduce the number of fuzzy rules of the FLS(fuzzy logic system), we consider the properties of robot dynamic. In fuzzy logic, speciality and optimization of rule-base creation using learning ability of neural network. This paper presents control of robot manipulator using neuro-fuzzy controller. In proposed controller, fuzzy input is trajectory following error and trajectory following error differential ...

• 자동차안전학회지
• /
• 제13권4호
• /
• pp.129-143
• /
• 2021

This paper proposes actuator fault detection and adaptive fault-tolerant control algorithms using performance index and human-like learning for longitudinal autonomous vehicles. Conventional longitudinal controller for autonomous driving consists of supervisory, upper level and lower level controllers. In this paper, feedback control law and PID control algorithm have been used for upper level and lower level controllers, respectively. For actuator fault-tolerant control, adaptive rule has been designed using the gradient descent method with estimated coefficients. In order to adjust the control parameter used for determination of adaptation gain, human-like learning algorithm has been designed based on perceptron learning method using control errors and control parameter. It is designed that the learning algorithm determines current control parameter by saving it in memory and updating based on the cost function-based gradient descent method. Based on the updated control parameter, the longitudinal acceleration has been computed adaptively using feedback law for actuator fault-tolerant control. The finite window-based performance index has been designed for detection and evaluation of actuator performance degradation using control error.

• 대한전자공학회논문지SD
• /
• 제38권8호
• /
• pp.1-12
• /
• 2001

본 연구에서는 MFSFET (Metal-Ferroelectric-Semiconductor FET) 소자의 모델링을 바탕으로 adaptive learning 회로를 설계하고, 그 수치적인 결과를 분석하였다. Adaptive learning 회로에서 출력주파수는 MFSFET 소자의 소스-드레인 저항과 캐패시턴스에 반비례하는 특성을 보여주었다. Short pulse 수에 따른 포화드레인 전류곡선은 강유전체의 분극반전 특성과 유사함을 확인할 수 있었고, 이는 강유전체 분극이 MFSFET 소자의 드레인 전류조절에 핵심적인 요소로 작용한다는 사실을 의미한다. 다음으로 MFSFET 소자의 드레인 전류조절에 핵심적인 요소로 작용한다는 사실을 의미한다. 다음으로 MFSFET 소자의 소스-드레인 저항으로부터 dimensionality factor 와 adaptive learning 회로의 펄스 수에 따른 출력주파수 변화를 분석하였다. 이 특성으로부터, adaptive learning 회로의 주파수변조 특성 즉, 입력펄스의 진행에 따라 출력펄스의 점진적인 주파수 변화를 의미하는 adaptive learning 특성을 명화하게 확인할 수 있었고, 뉴럴 네트워크에서 본 회로가 뉴런의 시넵스 부분에 효과적으로 사용될 수 있음을 입증하였다.

• 제어로봇시스템학회논문지
• /
• 제13권4호
• /
• pp.309-314
• /
• 2007

This paper presents an adaptive neural computation algorithm for multi-layered neural networks which are applied to identify the characteristic function of dynamic systems. The main feature of the proposed algorithm is that the initial learning rate for the employed neural network is assigned systematically, and also the assigned learning rate can be adjusted empirically for effective neural leaning. By employing the approach, enhanced modeling of dynamic systems is possible. The effectiveness of this approach is veri tied by simulations.

• 한국정밀공학회지
• /
• 제22권4호
• /
• pp.92-98
• /
• 2005

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized teaming control based on adaptive control method. The original motivation of the teaming control field was loaming in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Some techniques will show up in the numerical simulation for vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제7권4호
• /
• pp.236-241
• /
• 2007

This paper presents an adaptive controller using chaotic dynamic neural networks(CDNN) for nonlinear dynamic system. A new dynamic backpropagation learning method of the proposed chaotic dynamic neural networks is developed for efficient learning, and this learning method includes the convergence for improving the stability of chaotic neural networks. The proposed CDNN is applied to the system identification of chaotic system and the adaptive controller. The simulation results show good performances in the identification of Lorenz equation and the adaptive control of nonlinear system, since the CDNN has the fast learning characteristics and the robust adaptability to nonlinear dynamic system.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2009년도 제40회 하계학술대회
• /
• pp.778_779
• /
• 2009

The maximum output torque developed by the machine is dependent on the allowable current rating and maximum voltage that the inverter can supply to the machine. Therefore, to use the inverter capacity fully, it is desirable to use the control scheme considering the voltage and current limit condition, which can yield the maximum torque per ampere over the entire speed range. The paper is proposed maximum torque control of induction motor drive using adaptive learning neuro fuzzy controller and artificial neural network(ANN). The control method is applicable over the entire speed range and considered the limits of the inverter's current and voltage rated value. For each control mode, a condition that determines the optimal d, q axis current $_i_{ds}$, $i_{qs}$ for maximum torque operation is derived. The proposed control algorithm is applied to induction motor drive system controlled adaptive learning neuro fuzzy controller and ANN controller, the operating characteristics controlled by maximum torque control are examined in detail. Also, this paper is proposed the analysis results to verify the effectiveness of the adaptive learning neuro fuzzy controller and ANN controller.