Design and implementation of an adaptive neural-network compensatorfor control systems
Young-Kiu Choi; Min-Jung Lee; Sungshin Kim; Young-Chul Kay
Industrial Electronics, IEEE Transactions on
Volume 48, Issue 2, Apr 2001 Page(s):416 - 423
Digital Object Identifier 10.1109/41.915421
Summary:Recently, many studies have been made for intelligent controls
using the neural-network (NN). These NN approaches for control
strategies are based on the concept of replacing the conventional
controller with a new NN controller. However, it is usually difficult
and unreliable to replace the factory-installed controller with another
controller in the workplace. In this case, it is desirable to install an
additional outer control loop around the conventional control system to
compensate for the control error of the preinstalled conventional
control system. This paper presents an adaptive NN compensator for the
outer loop to compensate for the control errors of conventional control
systems. The proposed adaptive NN compensator generates a new command
signal to the conventional control system using the control error that
is the difference between the desired reference input and the actual
system response. The proposed NN-compensated control system is adaptable
to the environment changes and is more robust than the conventional
control systems. Experimental results for a SCARA-type manipulator show
that the proposed adaptive NN compensator enables the conventional
control system to have precise control performance
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