Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2000.07d
- /
- Pages.2383-2385
- /
- 2000
A Design of the New Neural Adaptive Controller for Improving Performance
성능개선을 위한 새로운 신경망 비선형 적응제어기 설계
- Lee, Byeng-Gi (Dept. of Electrical Eng. of Gyeongsang National Univ.) ;
- Gweon, Dae-Op (Korea Aerospace Industries Ltd.) ;
- Choi, Jae-Seok (Dept. of Electrical Eng. of Gyeongsang National Univ.) ;
- Lee, Soon-Young (Dept. of Electrical Eng. of Gyeongsang National Univ.)
- Published : 2000.07.17
Abstract
It is proposed a new algorithm for a neural network adaptive tracking control scheme to improve performance in this paper. In supervisory control scheme, the upper and lower bound of the parameters are directly estimated by using RBF neural network without their information, and the weighting parameters of the control input are adjusted on-line by adaptation laws. As a result, the proposed algorithm assured that the output errors go to zero without relation to existing minimum approximation errors and disturbances. The effectiveness of the proposed algorithm is demonstrated through the simulation of one-link rigid robotics manipulator.
Keywords