Tp ch Khoa hc 2008:10

Trng i hc Cn Th

IU KHIN NGC THCH NGHI H PHI TUYN DNG MNG NRON VI HM C S XUYN TM
Nguyn Hong Dng 1 , Ng Thanh Nh 2

ABSTRACT
The paper proposes a method to control a link robot manipulator using radial basis function neural network (RBFNN). RBFNN is used to compute inverse control law. This law will be updated online by changing adaptive weights of RBFNN. The initial weights are assigned with zero. And then they will be modified according to the altering of model parameters of the system. The robot arm is therefore controlled to track a desired reference signal. The method is tested with Matlab simulation software. Keywords: Neural network, radial basis function, nonlinear system control, inverse control law, system modeling, system identification Title: Radial basis function neural network based adaptive inverse control for nonlinear systems

TM TT
Bi bo cp n gii php s dng mng nron vi hm c s xuyn tm (RBFNN) iu khin h tay my mt bc t do. Mng RBFNN c dng tnh ton lut iu khin ngc. Lut iu khin ny s c cp nht trc tuyn nh vo s thay i trng s thch nghi ca mng RBFNN. Cc trng s ban u ca mng c khi to bng khng. Sau trng s s c cp nht theo s thay i thng s ca m hnh h thng. Nh m h tay my c iu khin bm theo qu o cho trc. Kt qu iu khin c kim chng bng phn mm m phng Matlab. T kha: Mng nron, hm c s xuyn tm, iu khin h phi tuyn, lut iu khin ngc, m hnh ha h thng, nhn dng h thng

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B Mn T ng Ha, Khoa Cng Ngh, Trng i hc Cn Th Hc vin cao hc chuyn ngnh L, kha 12, Khoa Khoa Hc, Trng i Hc Cn Th

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