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최종호(Chong-Ho Choi),장태정(Tae-Jeong Jang),백석찬(Seok-Chan Baek) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
We propose a method of generating data to train a neural network controller. The data can be prepared directly by an iterative learning technique which repeatedly adjusts the control input to improve the tracking quality of the desired trajectory. Instead of storing control input data in memory as in iterative learning control, the neural network stores the mapping between the control input and the desired output. We apply this concept to the trajectory control of a two link robot manipulator with a feedforward neural network controller and a feedback linear controller. Simulation results show good generalization of the neural network controller.