Recently, the neural network-based deep learning algorithm has dramatically improved performance compared to the classical Gaussian mixture model based hidden Markov model (GMM-HMM) automatic speech recognition (ASR) system. In addition, researches on end-to-end (E2E) speech recognition systems integrating language modeling and decoding processes have been actively conducted to better utilize the advantages of deep learning techniques. In general, E2E ASR systems consist of multiple layers of encoder-decoder structure with attention. Therefore, E2E ASR systems require data with a large amount of speech-text paired data in order to achieve good performance. Obtaining speech-text paired data requires a lot of human labor and time, and is a high barrier to building E2E ASR system. Therefore, there are previous studies that improve the performance of E2E ASR system using relatively small amount of speech-text paired data, but most studies have been conducted by using only speech-only data or text-only data. In this study, we proposed a semi-supervised training method that enables E2E ASR system to perform well in corpus in different domains by using both speech or text only data. The proposed method works effectively by adapting to different domains, showing good performance in the target domain and not degrading much in the source domain.