유연성 로봇 링크의 위치제어를 위한 신경망 제어기의 설계

The Design of Neural Networks Controller for Position Control of Flexible Robot Link

In this paper, applications of self-recurrent neural networks based of adaptive controller to position control of flexible robot link are considered. The self-recurrent neural networks can be used to approximate any continuous function to any desired degree of accuracy and the weights are updated by feedback-error learning algorithm. Therefore, a comparative analysis was mode with linear controller through an simulation. The results are presented to illustrate the advantages and improved performance of the proposed position tracking controller over the conventional linear controller.