The Position Control of Excavator's Attachment using Multi-layer Neural Network

다층 신경 회로망을 이용한 굴삭기의 위치 제어

The objective of this study is to design a multi-layer neural network which controls the position of excavator's attachment. In this paper, a dynamic controller has been developed based on an error back-propagation(BP) neural network. Since the neural network can model an arbitrary nonlinear mapping, it was used as a commanded feedforward input generator. A PD feedback controller is used in parallel with the feedforward neural network to train the system. The neural network was trained by the current state of the excavator as well as the PD feedback error. By using the BP network as a feedforward controller, no a priori knowledge on system dynamics is need. Computer simulation results demonstrate such powerful characteristics of the proposed controller as adaptation to changing environment, robustness to disturbancen and performance improvement with the on-line learning in the position control of excavator attachment.