Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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FLNN-Based Friction Compensation Controller for XY Tables

FLNN에 기초한 XY Table용 마찰 보상 제어기

  • 정재욱 (안산공과대학 전자통신과) ;
  • 김영호 (한국국방연구원) ;
  • 국태용 (성균관대학교 전전컴공학부)
  • Published : 2002.02.01
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Abstract

An FLNN-based neural network controller is applied to precise positioning of XY table with friction as the extension study of [11]. The neural network identifies the frictional farces of the table. Its weight adaptation rule, named the reinforcement adaptive learning rule, is derived from the Lyapunov stability theory. The experimental results with 2-DOF XY table verify the effectiveness of the proposed control scheme. It is also expected that the proposed control approach is applicable to a wide class of mechanical systems.

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References

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