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신경회로망을 이용한 상호 연결된 시스템의 비집중 제어와 평면 로봇 매니퓰레이터에의 응용
Decentralized control of interconnected systems using a neuro-coordinator and an application to a planar robot manipulator

정희태    (경북대학교 전자.전기공학부   ); 전기준    (경북대학교 전자.전기공학부, 제어계측신기술연구센터  );
  • 초록

    It is inevitable for local systems to have deviations which represent interactions and modeling errors originated from the decomposition process of a large scale system. This paper presents a decentralized control scheme for interconnected systems using local linear models and a neuro-coordinator. In the proposed method, the local system is composed of a linear model and unknown deviations caused by linearizing the subsystems around operating points or by estimating parameters of the subsystems. Because the local system has unmeasurable deviations we define a local reference model which consists of a local linear model and a neural network to estimate the deviations indirectly. The reference model is reformed into a linear model which has no deviations through a transformation of input variables and we obtain an optimum feedback control law which minimizes a local performance index. Finally, we derive a decentralized feedback control law which consists of local linear states and neural network outputs. In the decentralized control, the neuro-coordinator generates a corrective control signal to cancel the effect of deviations through backpropagation learning with the errors obtained from the differences of the local system outputs and reference model outputs. Also, the stability of local system is proved by the degree of learning of the neural network under an assumption on a neural network learning index. It is shown by computer simulations that the proposed control scheme can be applied successfully to the control of a biased two-link planar robot manipulator.


  • 주제어

    neural network .   decentralized control .   reference model .   planer robot manipulator .   local linear model .   neuro-coordinator.  

  • 참고문헌 (14)

    1. Decentralized feedback controllers for uncertain interconnected dynamic systems , H.Trinh;M.Aldeen , IEE Proc-D / v.140,pp.,
    2. MultiLevel feedback control for interconnected dynamical systems using the prediction principle , M.G.Singh;M.F.Hassan;A.Titli , IEEE Trans. Syst., Man and Cyber / v.SMC-6,pp.223-239,
    3. 신경회로망 조정기를 이용한 비선형 시스템의 비집중 제어 , 정희태;전기준 , 대한전자공학회지 / v.33,pp.,
    4. Identification and control of dynamical systems using neural networks , K.S.Narendra;K.Parthasrathy , IEEE Trans. Neural Networks / v.1,pp.,
    5. Decentralized adaptive control of interconnected systems , P.A.Ioannou , IEEE Trans. Auto. Cont. / v.AC-31,pp.,
    6. Direct control and coordination using neural networks , X,Cui;K.G.Shin , IEEE Trans. Syst. Man and Cyber. / v.23,pp.,
    7. Decentralized control of interconnected systems with unmodelled nonlinearity and interaction , C.J.Mao;W.S.Lin , Automatica / v.26,pp.263-268,
    8. Mobil robot by neural networks using self-supervised learning , K.Saga;T.Sugasaka;M.Sekiguchi;S.Nagata;K.Asakawa , IEEE Trans. Ind. Electron. / v.39,pp.,
    9. Neural-Net controller for nonlinear plants: design approach through linearisation , M.S.Ahmed;I.A.Tasadduq , IEE Proc.-D / v.141,pp.,
    10. A nonlinear regulator design in the presence of system uncertainties using multilayered neural networks , Y.liguni;H.Sakai;H.Tokumaru , IEEE Trans. Neural Networks / v.2,pp.,
    11. Identification and decentralized adaptive control using dynamical neural networks with application to robotic manipulators , K.Ahmet;I.S.Subramania;K.S.Malur , IEEE Trans. Neural Networks / v.4,pp.,
    12. A neural network compensator for uncertainties of robotics manipulators , A.Ishiguro;T.Furuhashi;S.Okuma;Y.Uchikawa , IEEE Trans. Ind. Electron. / v.39,pp.,
    13. Control of nonlinear dynamical systems using neural networks: controllability and stabilization , A.U.Levin;K.S.Narendra , IEEE Trans. Neural Networks / v.4,pp.,
    14. Artificial neural networks in process engineering , M.J.Willis;C.D.Massimo;G.A.Montague;M.T.Tham;A.J.Morris , IEE Proc-D / v.138,pp.,
  • 이 논문을 인용한 문헌 (1)

    1. Lee, Woo-Ho ; Cho, Hyung-Suck 2000. "Design of a CMAC Controller for Hydro-forming Process" 제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering, 6(3): 329~337     

 저자의 다른 논문

  • 정희태 (1)

    1. 1996 "신경회로망 조정기를 이용한 상호 연결된 비선형 시스템의 비집중 제어" 電子工學會論文誌. Journal of the Korea institute of telematics and electronics. B b33 (6): 208~216    
  • Jeon, Gi-Joon (21)

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