대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 하계학술대회 논문집 D
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- Pages.2046-2048
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- 2003
신경망을 이용한 비선형 시스템의 외란 관측기 설계
Design of Disturbance Observer of Nonlinear System Using Neural Network
- Shin, Chang-Seop (School of Elec. Eng. & Computer Science, Hanyang Univ.) ;
- Kim, Hong-Pil (Dept. of Elec. Eng. Kyungil Univ.) ;
- Yang, Hai-Won (School of Elec. Eng. & Computer Science, Hanyang Univ.)
- 발행 : 2003.07.21
초록
In this paper, a neural disturbance observer(NDO) is developed and its application to the control of a nonlinear system with the internal and/or external disturbances is presented. To construct the NDO, a parameter tuning method is proposed and shown to be useful in adjusting the parameters of the NDO. The tuning method employes the disturbance observation error to guarantee that the NDO monitors unknown disturbances. Each of the nodes of the hidden layer in the NDO network is a radial basis function(RBF). In addition, the relationships between the suggested NDO-based control and the conventional adaptive controls reported in the previous literatures are discussed. And it is shown in a rigorous manner that the disturbance observation error converges to a region of which size can be kept arbitrarily small. Finally, an example and some computer simulation results are presented to illustrate the effectiveness and the applicability of the NDO.
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