Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Optimal Neural Network Controller Design using Jacobian

자코비안을 이용한 최적의 신경망 제어기 설계

  • 임윤규 (영남대학교 기계공학부) ;
  • 정병묵 (영남대학교 기계공학부 대학원) ;
  • 조지승 (영남대학교 기계공학부)
  • Published : 2003.02.01
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Abstract

Generally, it is very difficult to get a modeling equation because multi-variable system has coupling relations between its inputs and outputs. To design an optimal controller without the modeling equation, this paper proposes a neural-network (NN) controller being learned by Jacobian matrix. Another major characteristic is that the controller consists of two separated NN controllers, namely, proportional control part and derivative control part. Simulation results for a catamaran system show that the proposed NN controller is superior to LQR in the regulation and tracking problems.

Keywords

References

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