한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1995년도 추계학술대회 논문집
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- Pages.337-341
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- 1995
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- 2005-8446(pISSN)
해저작업 로봇 매니퓰레이터의 강건한 신경망 제어기
A Robust Neural Control of Robot Manipulator Operated Under the Sea
초록
This paper presents a robust control scheme using a multilayer network for the robot manipulator operating under the sea which has large uncertainties such as the buoyancy and the added mass/moment of inertia. The multilayer neural network acts as a compensator of the conventional sliding mode controller to maintain the control performance when the initial assumptions of uncertainty bounds are not valid. By the computer simulation results, the proposed control scheme dose not effectively compensate large uncertainties, but also reduces the steady stare error of the conventional sliding mode controller.
키워드