By Ramon Garcia-Hernandez,Michel Lopez-Franco,Edgar N. Sanchez,Alma y. Alanis,Jose A. Ruz-Hernandez
This e-book presents a decentralized technique for the id and regulate of robotics structures. It additionally offers contemporary study in decentralized neural keep an eye on and comprises functions to robotics. Decentralized keep an eye on is loose from problems as a result of complexity in layout, debugging, facts amassing and garage requisites, making it most effective for interconnected platforms. moreover, in preference to the centralized process, it may be applied with parallel processors.
This method bargains with 4 decentralized regulate schemes, that are in a position to establish the robotic dynamics. the learning of every neural community is played online utilizing a longer Kalman clear out (EKF).
The first oblique decentralized keep watch over scheme applies the discrete-time block keep an eye on process, to formulate a nonlinear sliding manifold.
The moment direct decentralized neural regulate scheme relies at the backstepping strategy, approximated by way of a excessive order neural network.
The 3rd regulate scheme applies a decentralized neural inverse optimum keep an eye on for stabilization.
The fourth decentralized neural inverse optimum keep an eye on is designed for trajectory tracking.
This entire paintings on decentralized keep watch over of robotic manipulators and cellular robots is meant for professors, scholars and execs eager to comprehend and observe complicated wisdom of their box of work.
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Extra info for Decentralized Neural Control: Application to Robotics (Studies in Systems, Decision and Control)
Decentralized Neural Control: Application to Robotics (Studies in Systems, Decision and Control) by Ramon Garcia-Hernandez,Michel Lopez-Franco,Edgar N. Sanchez,Alma y. Alanis,Jose A. Ruz-Hernandez