A Desing of position controller for manipulator using Adaptive neural network

적응 신경망을 이용한 동적 매니퓰레이터의 위치제어 설계

"Dynamic Neural Unit"(DNU) based upon the topology of a reverberating circuit in a neuronal pool of the central nervous system. In this thesis, we present a genetic DNU-control scheme for unknown nonlinear systems. Our methodis different from those using supervised learning algorithms, such as the backpropagation (BP) algorithm, that needs training information in each step. The contributions of this thesis are the new approach to constructing neural network architecture and its trainin.