한국지능시스템학회:학술대회논문집 (Proceedings of the Korean Institute of Intelligent Systems Conference)
- 한국퍼지및지능시스템학회 1996년도 추계학술대회 학술발표 논문집
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- Pages.227-233
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- 1996
신경망을 이용한 Liner Track Cart Double Inverted Pendulum의 최적제어에 관한 연구
The study on the Optimal Control of Linear Track Cart Double Inverted Pendulum using neural network
초록
The Inverted Pendulum has been one of most popular nonlinear dynamic systems for the exploration of control techniques. This paper presents a new linear optimal control techniques and nonlinear neural network learning methods. The multiayered neural networks are used to add nonlinear effects on the linear optimal regulator(LQR). The new regulator can compensate nonlinear system uncertainties that are not considered in the LQR design, and can tolerated a wider range of uncertainties than the LQR alone. The new regulator has two neural networks for modeling and control. The neural network for modeling is used to obtain a more accurate model than the given mathematical equations. The neural network for control is used to overcome deficiencies by adding corrections to the linear coefficients of the LQR and by adding nonlinear effects on the LQR. Computer simulations are performed to show the applicability and a more robust regulator than the LQR alone.
키워드