Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 14 Issue 6
- /
- Pages.90-98
- /
- 1997
- /
- 1225-9071(pISSN)
- /
- 2287-8769(eISSN)
Time-optimal Control Utilizing Beural Networks
신경회로망을 이용한 시간최적 제어
Abstract
A time-optimal control law for quick, strongly nonlinear systems has been developed and demonstrated. This procedure involves the utilzation of neural networks as state feedback controllers that learn the time-optimal control actions by means of an iterative minimization of both the final time and the final state error for the systems with constrained inputs and/or states. A neural identifier or a genetic algorithm identifier could be utilized for modeling the partially known systems and the unknown systems. The nature of neural networks as a parallel processor would circumvent the problem of "curwe of dimensionality". The control law has been demonstrated for both a torque input motor and a velocity input motor identified by a genetic algorithm called GENOCOPed GENOCOP.
Keywords