제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
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- Pages.180.5-180
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- 2001
Design of PD controller for WMR using a Neural Network
- Kim, Kyu-Tae (Kyunghee Univ.) ;
- Kim, Sung-Hee (Kyunghee Univ.) ;
- Park, Chong-Kug (Kyunghee Univ.) ;
- Bae, Jun-Kyung (Chinju Industrial Univ.)
- 발행 : 2001.10.01
초록
This paper presents A Design of WMR Controller that being composed of cooperative relation between PID controller and optimized neural network algorithm, it operate a variable control by velocity. Some proposed algorithm in the past just depended on PID controller for the control of position of WMR but for more efficient control we design a variable controller that operate control by PD controller using neural network if it is satisfied with any given condition. it adjust gain of PD controller for real time control using a fast feedforward algorithm which is different with Form of the standard backpropagation algorithm.
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