대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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- Pages.157-160
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- 2001
신경회로망을 이용한 WMR의 가변제어기 설계
Design of variable controller for WMR using a Neural Network
- Kim, Kyu-Tae (Kyunghee univer. Electronic engineering) ;
- Kim, Sung-Hoi (Kyunghee univer. Electronic engineering) ;
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Park, Jong-Kug
(Kyunghee univer. Electronic engineering)
- 발행 : 2001.11.24
초록
This paper presents A Design of WMR Controller that being composed of cooperative relation between PID controller and optimized neural network algorithm, it operate a variable control by velocity. Some proposed algorithm in the past just depended on PID controller for the control of position of WMR but for more efficient control we design a variable controller that operate control by PD controller using neural network if it is satisfied with any given condition. it adjust gain of PD controller for real time control using a fast feedforward algorithm which is different with Form of the standard backpropagation algorithm.
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