퍼지-뉴럴 합성을 이용한 제어기의 설계

The fuzzy-neural hybrid control system utilizing the fuzzy-neural network(FNN) will be presented in this paper. The basic structure of the controller is the parallel combination of a conventional P-controller and a FNN. Such a combination can guarantee the stability of a plant at initial stage before the rules are completely created. And a method how to automatically tunning the parameters of the FNN will be proposed with error back-propagation(BP) algorithm. Finally the effectiveness of the proposed strategy will be verified by computer simulations using a two DOF robot manipulator.