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전기준,배병우 경북대학교 전자기술연구소 1996 電子技術硏究誌 Vol.17 No.1
In this paper we propose a control algorithm that improves performance of indirect adaptive control systems using multilayer neural networks(MLNN's). The control algorithm compensates the tracking error induced by the identification error through training the weights of the controller by a training signal generated from the identification error using an optimization technique. The performance of the proposed control algorithm is compared with those of an indirect control algorithm and a direct control algorithm with the inverse Jacobian obtained from the identifier by the simulations of a nonlinear system with/without measurement noises.