Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1992.07a
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- Pages.401-403
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- 1992
A Design of Model-Based Leaming Controller using Artificial Neural Networks
신경회로망을 이용할 모델 기반 학습 제어기의 설계
- Roh, C.L. (Detp. of Electrical Engineering, KAIST) ;
- Kim, Seung-Do (Detp. of Electrical Engineering, KAIST) ;
- Chung, M.J. (Detp. of Electrical Engineering, KAIST)
- Published : 1992.07.23
Abstract
For the control of robotic manipulators with unknown or uncertain dynamics, leaming control schemes are very effective control schemes for repeated trajectory following tasks. In this class of controllers, control techniques using neural networks have been gaining much attention in recent years.. In this note, we discuss the leaming control techniques using neural networks and propose a new model-based control scheme using multilayered neural networks. Three-layerd neural network is used as a feedback controller to compensate the mismatched terms between model plant and real plant. Computer simulations are performed to show the applicability and the limitation of the proposed controller.
Keywords