Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Experimental Studies of neural Network Control Technique for Nonlinear Systems

신경회로망을 이용한 비선형 시스템 제어의 실험적 연구

  • Jeong, Seul (Dept. of Mechatronics Engineering, Chungnam National University) ;
  • Yim, Sun-Bin (Dept. of Mechatronics Engineering, Chungnam National University)
  • 정슬 (충남대학교 메카트로닉스공학과) ;
  • 임선빈 (충남대학교 메카트로닉스공학과)
  • Published : 2001.11.01
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Abstract

In this paper, intelligent control method using neural network as a nonlinear controller is presented. Simulation studies for three link rotary robot are performed. Neural network controller is implemented on DSP board in PC to make real time computing possible. On-line training algorithms for neural network control are proposed. As a test-bed, a large x-y table was build and interface with PC has been implemented. Experiments such as inverted pendulum control and large x-y table position control are performed. The results for different PD controller gains with neural network show excellent position tracking for circular trajectory compared with those for PD controller only. Neural control scheme also works better for controlling inverted pendulum on x-y table.

Keywords

References

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