Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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A Cooperative Fuzzy and CMAC Control for Cartpole System

CMAC에 의한 협동 퍼지 제어계의 운반차-막대 시스템 제어

  • 권성규 (계명대학교 기계자동차공학부)
  • Published : 2006.06.01
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Abstract

A cartpole system is controlled by a control system consisting of two fuzzy controllers cooperating by a CMAC. Each controller uses 2 different input variables and yields the control force provided to the CMAC. The cooperation is due to training of the CMAC supervised by a judge which selects training information for the CMAC between two fuzzy controllers. The control scheme could be appreciated in terms of the tight structure of the controller, simple cooperating scheme due to the CMAC training, and accomplishing control goal that could not be attained by individual controllers.

운반차-막대 시스템을 제어하기 위하여 두 개의 2 차원 퍼지 제어기가 CMAC에 의해 협동하게 하는 제어 계략을 개발하였다. 제어계에서 한 제어기는 운반차의 변위와 속도, 다른 제어기는 막대의 각도와 각속도를 각각의 2 개의 입력 변수로 하고 운반차에 가하는 힘이 두 제어기의 출력 변수인데, 이 변수를 외부의 감독에 따라 CMAC이 학습하게 하여 협동 제어의 효과를 발휘한다. 제어계 구성과 CMAC 훈련에 의한 협동 계략의 단순함에 비하여, 제어계는 4 개의 입력 변수에 의한 퍼지 제어기나 다른 해석적 방법에 의한 것에 비해 손색없는 제어 성능을 보였다.

Keywords

References

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