A Design of Fuzzy Neural Network Based Robust Gain Scheduling Controllers

Abstract

This paper propose robust gain scheduling control design by intelligent control which uses Fuzzy-Neural Network without model. Proposal methods are as follows, To constitute a robust and capable of automatically gain controlling against the conventional fixed PID control system. To build the Neural Network which learns inverse dynamics as feed forward compensation, and to build 2 degrees freedom control which is the feedback compensation. To propose the control system which adaptively adjusts the gain according to the changes of target errors, and to verified the effectiveness of the proposed method.