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Robust Controller for Flexible Specifications Using Difference Signals and Competitive Associative Nets

  • Weicheng Huang
  • Shuichi Kurogi
  • Takeshi Nishida
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7667)

Abstract

This paper describes a robust controller using difference signals and multiple competitive associative nets (CAN2s) and flexibly applicable to different control specifications or objectives. Using difference signals of a plant to be controlled, the CAN2 is capable of leaning piecewise Jacobian matrices of nonlinear dynamics of the plant as well as the control objective. By means of employing the GPC (generalized predictive controller), a robust control method to switch multiple CAN2s to cope with plant parameter change is introduced. We show the effectiveness of the present method via numerical experiments of a crane system.

Keywords

Robust controller Flexible control specifications Switching of multiple CAN2 Difference signals Jacobian matrix Control of nonlinear plant 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Weicheng Huang
    • 1
  • Shuichi Kurogi
    • 1
  • Takeshi Nishida
    • 1
  1. 1.Kyusyu Institute of technologyFukuokaJapan

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