PID 제어기와 신경망 보상기를 사용한 로봇매니퓰레이터 제어

• 영문명: Control of Robot Manipulator using PID Controller & Compensator of Neural Network
• 발행기관: 한국산업기술융합학회(구. 산업기술교육훈련학회)
• 저자명: 이광수(Kwang-Su Lee)
• 간행물 정보: 『산업기술연구논문지』산업기술교육훈련논문지 제16권 4호, 31~36쪽, 전체 6쪽
• 주제분류: 공학 > 공학일반
• 파일형태: PDF
• 발행일자: 2011.12.30

영문 초록

This paper introduces an adaptive compensator using a neural network and PID controller without the plant model. The reference input of a PID controller is converted to a newly learned input by a neural network compensator. The new reference input considers the situation between existing disturbance and time-varying plant parameters. The learned input assists the plant output to trace the reference input properly. The multilayer neural network is employed for the reference compensator. The back error propagation algorithm is used to minimize the errors between the reference and plant outputs. The simulation results show that the proposed method is more robust than a PID controller with fixed gain.

목차

Ⅰ. 서 론

Ⅱ. 신경회로망 보상기 설계

Ⅲ. 시뮬레이션 및 결과

Ⅳ. 결 론

키워드

Multilayer Neural Network(다층신경망) Back Error Propagation(역전파오차) Input Layer(입력층) Hidden Layer(은닉층) Output Layer(출력층)