Nonlinear Dynamic Manipulator Control Using DNP Controller

DNP 제어기에 의한 비선형 동적 매니퓰레이터 제어

In this paper, to bring under robust and accurate control of auto-equipment systems which disturbance, parameter alteration of system, uncertainty and so forth exist, neural network controller called dynamic neural processor(DNP) is designed. Also, the architecture and learning algorithm of the proposed dynamic neural network, the DNP, are described and computer simulations are provided to demonstrate the effectiveness of the proposed learning method using the DNP.