한국지능시스템학회논문지 (Journal of the Korean Institute of Intelligent Systems)

  • 제23권6호
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  • Pages.494-499
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  • 2013
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  • 1976-9172(pISSN)
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  • 2288-2324(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
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불확실한 pure-feedback 비선형 계통에 대한 출력 궤환 적응 신경망 제어기

Adaptive Output-feedback Neural Control of uncertain pure-feedback nonlinear systems

  • 박장현 (목포대학교 제어로봇공학과) ;
  • 김성환 (목포대학교 제어로봇공학과) ;
  • 장영학 (목포대학교 제어로봇공학과) ;
  • 유영재 (목포대학교 제어로봇공학과)
  • Park, Jang-Hyun (Dept. of Control Engineering and Robotics, Mokpo National University) ;
  • Kim, Seong-Hwan (Dept. of Control Engineering and Robotics, Mokpo National University) ;
  • Jang, Young-Hak (Dept. of Control Engineering and Robotics, Mokpo National University) ;
  • Ryoo, Young-Jae (Dept. of Control Engineering and Robotics, Mokpo National University)
  • 투고 : 2013.02.26
  • 심사 : 2013.12.06
  • 발행 : 2013.12.25
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⟨ 이전 논문 다음 논문 ⟩

초록

본 논문은 불확실한 연속시 단일입력 단일출력 pure-feedback 비선형 계통에 대해서 참고문헌 [15]에서 제안된 상태변수 궤환 적응 신경망 제어 알고리듬을 바탕으로 출력만이 측정 가능한 계통에 적용할 수 있는 출력 궤환 제어기를 제시한다. 고려하는 계통에 대한 출력 궤환 적응 신경망 제어기는 이 분야에서 아직까지 어느 문헌에서도 다루지 않은 주제이다. 제안된 출력 궤환 제어기는 백스테핑을 회피하여 상대적으로 간결한 제어 규칙과 단 하나의 신경망만이 사용된다는 [15]의 장점을 그대로 계승하며 적용되는 비선형 계통의 범주를 더 넓힌다는 의미를 가진다.

Based on the state-feedback adaptive neuro-control algorithm for a SISO nonaffine pure-feedback nonlinear system proposed in [15], an output-feedback controller is proposed in this paper. The output-feedback adaptive neural-net controller for the considered nonlinear system has not been previously proposed in any other literatures yet. The proposed output-feedback controller inherits all the advantages of [15] such that it does not adopt backstepping and this results in relatively simple control and adapting laws. Only one neural network is required for the proposed adaptive controller. The proposed neural-net control scheme expands the applicable class of nonlinear systems.

키워드

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