• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.812-814
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• 1999

In this paper, we propose a new control algorithm based on the neural network(NN) feedback compensation with a desired trajectory modification. The proposed algorithm decreases trajectory errors by a feed-forward desired torque combined with a neural network feedback torque component. And, to robustly control the tracking error, we modified the desired trajectory by variable structure concept smoothed by a fuzzy logic. For the numerical simulation, a 2-link robot manipulator model was assumed. To simulate the disturbance due to the modelling uncertainty. As a result of this simulation, the proposed method shows better trajectory tracking performance compared with the CTM and decreases the chattering in control inputs.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.714-719
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• 1994

This paper proposes a method of suboptimal control for DC servomotor using a neural network. First we consider a nonlinear observer which is constructed by using an approximated linear dynamics of the nonlinear system and a, neural network. The reccurent neural network is used for the learning of the dynamical system. Next we consider the nonlinear observer. Then, we apply the observer output to nonlinear optimal regulator and confirm the effectiveness by applying the method to the inverse pendulum system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.05a
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• pp.406-409
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• 2000

We propose the modified neural network which are paralleled to control nonlinear systems. The proposed method is a direct control method to use inverse model of the plant. Nonlinear systems are divided into two parts; linear part and nonlinear part, and it is controlled by RLS method and recursive multi-layer neural network with each other. We simulate to verify the performance of the proposed method and are compared with conventional direct neural network control method. The proposed control method is improved the control performance than the conventional method.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.1-6
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• 1990

Neural network is a computational model of ft biological nervous system developed ID exploit its intelligence and parallelism. Applying neural networks so robots creates many advantages over conventional control methods such as learning, real-time control, and continuous performance improvement through training and adaptation. In this paper, dynamic control of a six-link robot will be presented using neural networks. The neural network model used in this paper is the backpropagation network. Simulated control of the PUMA 560 am shows that it can move a high speed as well as adapt to unforseen load changes and sensor noise. The results are compared with the conventional PD control scheme.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.591-601
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• 2006

In this paper, we present a new control methodology for perturbed crane systems. Nonlinear crane systems are transformed to linear models by feedback linearization. An inverse dynamic equation is applied to compute the system PD control force. The PD control parameters are selected based on a nominal model and are therefore suboptimal for a perturbed system. To achieve the desired performance despite model perturbations, we construct a neural network auxiliary controller to compensate for modeling errors and disturbances. The overall control input is the sum of the nominal PD control and the neural auxiliary control. The neural network is iteratively trained with a perturbed system until acceptable performance is attained. We apply the proposed control scheme to 2- and 3-degree-of-freedom (D.O.F.) crane systems, with known bounds on the payload mass. The effectiveness of the control approach is numerically demonstrated through computer simulation experiments.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2001.06a
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• pp.141-144
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• 2001

In this paper, we proposed a neural network controller with a fuzzy compensator which compensate a output of neural network controller. Even if learn by neural network controller, it can occur a bad results from disturbance or load variations. So in order to adjust above case. we used the fuzzy compensator to get an expected results. And the weight of main neural network can be changed with the result of learning an inverse model neural network of plant, so a expected dynamic characteristics of plant can be got. In order to confirm a performance of the proposed controller, we implemented the controller using the DSP processor and applied in a hydraulic servo system. And then we observed an experimental results.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.248-255
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• 2006

Among a variety of influencing components, time-variant seepage and long-term underground motion are important to understand the abnormal behavior of tunnels. Excessiveness of these two components could be the direct cause of severe damage on tunnels. however, it is not easy to quantify the effect of these on the behavior of tunnels. These parameters can be estimated by using inverse methods once the appropriate relationship between inputs and results are clarified. Various inverse methods or parameter estimation techniques such as artificial neural network and least square method can be used depending on the characteristics of given problems. Numerical analyses, experiments, or monitoring results are frequently used to prepare a set of inputs and results to establish the back analysis models. In this study, a back analysis method has been developed to estimate geotechnically hard-to-known parameters such as permeability of tunnel filter, underground water table, long-term rock mass load, size of damaged zone associated with seepage and long-term underground motion. The artificial neural network technique is adopted and the numerical models developed in the firstpart are used to prepare a set of data for learning process. Tunnel behavior especially the displacements of the lining has been exclusively investigated for the back analysis.

• Journal of IKEEE
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• v.25 no.4
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• pp.650-663
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• 2021

Subsurface topology estimation is an important factor in the geophysical survey. Electrical impedance tomography is one of the popular methods used for subsurface imaging. The EIT inverse problem is highly nonlinear and ill-posed; therefore, reconstructed conductivity distribution suffers from low spatial resolution. The subsurface region can be approximated as piece-wise separate regions with constant conductivity in each region; therefore, the conductivity estimation problem is transformed to estimate the shape and location of the layer boundary interface. Each layer interface boundary is treated as an open boundary that is described using front points. The subsurface domain contains multi-layers with very complex configurations, and, in such situations, conventional methods such as the modified Newton Raphson method fail to provide the desired solution. Therefore, in this work, we have implemented a 7-layer artificial neural network (ANN) as an inverse problem algorithm to estimate the front points that describe the multi-layer interface boundaries. An ANN model consisting of input, output, and five fully connected hidden layers are trained for interlayer boundary reconstruction using training data that consists of pairs of voltage measurements of the subsurface domain with three-layer configuration and the corresponding front points of interface boundaries. The results from the proposed ANN model are compared with the gravitational search algorithm (GSA) for interlayer boundary estimation, and the results show that ANN is successful in estimating the layer boundaries with good accuracy.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.16 no.11
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• pp.1186-1193
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• 1991

This paper proposed a trajectory controlmethod for a robot manipulator by using neural networks. The total torque for a manipulator is a sum of the linear feedback controller torque and the neural network feedfoward controller torque. The proposed neural network is a multilayer neural network with time delay elements, and learns the inverse dynamics of manipulator by means of PD(propotional denvative)controller error torque. The error backpropagation (BP) learning neural network controller does not directly require manipulator dynamics information. Instead, it learns the information by training and stores the information and connection weights. The control effects of the proposed system are verified by computer simulation.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.28B no.11
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• pp.897-903
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• 1991

In this paper we propose a hybrid position/force controller of a robot manipulator using feedback error learning rule and neural networks. The neural network is constructed from inverse dynamics. The weighting value of each neuron is trained by using a feedback force as an error signal. If the neural networks are sufficiently trained well, it does not require the feedback-loop with error signals. The effectiveness of the proposed hybrid position/force controller is demonstrated by computer simulation using PUMA 560 manipulator.