제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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- Pages.230-235
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- 1992
반복학습 제어를 사용한 신경회로망 제어기의 구현
Realization of a neural network controller by using iterative learning control
초록
We propose a method of generating data to train a neural network controller. The data can be prepared directly by an iterative learning technique which repeatedly adjusts the control input to improve the tracking quality of the desired trajectory. Instead of storing control input data in memory as in iterative learning control, the neural network stores the mapping between the control input and the desired output. We apply this concept to the trajectory control of a two link robot manipulator with a feedforward neural network controller and a feedback linear controller. Simulation results show good generalization of the neural network controller.
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