대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1995년도 하계학술대회 논문집 B
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- Pages.705-709
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- 1995
다층 신경 회로망을 이용한 굴삭기의 위치 제어
The Position Control of Excavator's Attachment using Multi-layer Neural Network
- 서삼준 (고려대학교 전기공학과) ;
- 권대익 (고려대학교 전기공학과) ;
- 서호준 (고려대학교 전기공학과) ;
- 박귀태 (고려대학교 전기공학과) ;
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김동식
(순천향대학교 제어계측공학과)
- Seo, Sam-Joon (Dept. of Electrical Eng., Korea University) ;
- Kwon, Dai-Ik (Dept. of Electrical Eng., Korea University) ;
- Seo, Ho-Joon (Dept. of Electrical Eng., Korea University) ;
- Park, Gwi-Tae (Dept. of Electrical Eng., Korea University) ;
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Kim, Dong-Sik
(Dept. of Instrumentation Eng., Soonchunhyang University)
- 발행 : 1995.07.20
초록
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.
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