제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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- Pages.401-405
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- 1993
Adaptive control based on nonlinear dynamical system
- Sugisaka, Masanori (Department of Electrical and Electronic Engineering, Oita University) ;
- Eguchi, Katsumasa (Department of Electrical and Electronic Engineering, Oita University)
- 발행 : 1993.10.01
초록
This paper presents a neuro adaptive control method for nonlinear dynamical systems based on artificial neural network systems. The proposed neuro adaptive controller consists of 3 layers artificial neural network system and parallel PD controller. At the early stage in learning or identification process of the system characteristics the PD controller works mainly in order to compensate for the inadequacy of the learning process and then gradually the neuro contrller begins to work instead of the PD controller after the learning process has proceeded. From the simulation studies the neuro adaptive controller is seen to be robust and works effectively for nonlinear dynamical systems from a practical applicational points of view.
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