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KMID : 0613219960140000285
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Bulletin of Ji San Nursing and Health College
1996 Volume.14 No. 0 p.285 ~ p.293
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Predictive Tracking Controller of Time-Varying Dynamic Systems Using Neural Networks
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Abstract
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A neural predictive tracking system for the control of time-varying dynamic systems is presented. The control system comprises a neural network modelling mechanism for the forward and inverse dynamics of a plant to be controlled, a feedforward controller, a feedback controller and an error prediction mechanism. The feedforward controller, a neural network model of the inverse dynamics, generates feedforward control signal to the plant. The feedback control signal is produced by the error prediction mechanism. The error predictor adopts the neural network models of the forward and inverse dynamics. Simulation results are presented to demonstrate the applicability of the proposed scheme to predictive tracking control problems.
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KEYWORD
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