보상용 신경회로망을 사용한 이동로봇의 속도제어

• 영문명: Velocity Control of Mobile Robot using Neural Network for Compensation
• 발행기관: 한국산업기술융합학회(구. 산업기술교육훈련학회)
• 저자명: 이광수(Kwang-Su Lee)
• 간행물 정보: 『산업기술연구논문지』산업기술교육훈련논문지 제16권 4호, 97~104쪽, 전체 8쪽
• 주제분류: 공학 > 산업공학
• 파일형태: PDF
• 발행일자: 2011.12.30

영문 초록

It is very difficult problem to implement stable trajectory tracking algorithms because mobile robots have kinematically non-holonomic constraints. For solving this problem, a velocity controller is presented in this paper. The velocity errors caused by system uncertainties or internal and external disturbances exist. A neural network is used for compensating the velocity errors. Input variables of this neural network compensator are defined by differences between the velocities of the posture controller and the real velocities of the mobile robot. The controller containing the compensator is more robust against the system uncertainties and disturbances as compared with the case which just uses a PID controller.

목차

Ⅰ. 서 론

Ⅱ. 본 론

Ⅲ. 시뮬레이션

Ⅳ. 결 론

키워드

Back Propagation Learning Algorithm(역전파 학습 알고리즘) Multi-Layer Neural Network(다층신경회로망) Activation Function(활성화 함수)