Design of Multi-Dynamic Neural Network Controller for Improving Transient Performance

과도상태 성능 개선을 위한 다단동적 신경망 제어기 설계

The intent of this paper is to describe a neural network structure called multi dynamic neural network(MDNN), and examine how it can be used in developing a learning scheme for computing robot inverse kinematic transformations. The architecture and learning algorithm of the proposed dynamic neural network structure, the MDNN, are described. Computer simulations are demonstrate the effectiveness of the proposed learning using the MDNN.