Decentralized Neural Control: Application to Robotics

Name: Decentralized Neural Control: Application to Robotics
Brand: Springer International Publishing AG
SKU: 9783319533117
Price: 48015 HUF
Availability: InStock

Szerző: Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez

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Kötés: Kemény kötésű

Kiadó: Springer International Publishing AG

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This book provides a decentralized approach for the identification and control of robotics systems....

Információk a könyvről

Szerző

Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez

Nyelv

Angol

Kötés

Könyv - Kemény kötésű

Kiadva

2017

oldal

111

EAN

9783319533117

ISBN

3319533118

Enbook ID

15730104

Kiadó

Springer International Publishing AG

Súly

395

Méretek

155 x 235 x 13

Teljes leírás

This book provides a decentralized approach for the identification and control of robotics systems. It also presents recent research in decentralized neural control and includes applications to robotics. Decentralized control is free from difficulties due to complexity in design, debugging, data gathering and storage requirements, making it preferable for interconnected systems. Furthermore, as opposed to the centralized approach, it can be implemented with parallel processors.This approach deals with four decentralized control schemes, which are able to identify the robot dynamics. The training of each neural network is performed on-line using an extended Kalman filter (EKF).The first indirect decentralized control scheme applies the discrete-time block control approach, to formulate a nonlinear sliding manifold.The second direct decentralized neural control scheme is based on the backstepping technique, approximated by a high order neural network.The third control scheme applies a decentralized neural inverse optimal control for stabilization.The fourth decentralized neural inverse optimal control is designed for trajectory tracking.This comprehensive work on decentralized control of robot manipulators and mobile robots is intended for professors, students and professionals wanting to understand and apply advanced knowledge in their field of work.

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Decentralized Neural Control: Application to Robotics

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