Neuro-Sliding Mode Control with Its Applications to Seesaw Systems
碩士 === 國立中央大學 === 電機工程研究所 === 89 === In this paper, we will propose a cooperative control approach that is based on combination of Neural Networks and Sliding Mode Control (SMC) methodology. The main purpose is to eliminate the chattering phenomenon. Furthermore, the system performance ob...
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| Format: | Others |
| Language: | en_US |
| Published: |
2001
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| Online Access: | http://ndltd.ncl.edu.tw/handle/20072772068808138514 |
| Summary: | 碩士 === 國立中央大學 === 電機工程研究所 === 89 === In this paper, we will propose a cooperative control approach that is based on combination of Neural Networks and Sliding Mode Control (SMC) methodology. The main purpose is to eliminate the chattering phenomenon. Furthermore, the system performance obtained via the method of SMC can be improved. In the present approach, two parallel Neural Networks are utilized to realize a Neuro-Sliding Mode Control (NSMC). The equivalent control and the corrective control in terms of Sliding Mode Control are the outputs of the Neural Networks. The weights adaptations of Neural Network are determined based on the Sliding Mode Control equations. Then, the gradient descent method is used to minimize the control force so that chattering phenomenon can be eliminated.
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