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Kniha Decentralized Neural Control: Application to Robotics Ramon Garcia-Hernandez

Decentralized Neural Control: Application to Robotics

Autor: Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez
Jazyk: Angličtina
Vazba: Pevná
Vydavatel: Springer International Publishing AG
Dostupnost: Skladem u dodavatele v malém množství
Odesíláme za 13-18 dnů
3 023 Kč
This book provides a decentralized approach for the identification and control of robotics systems....

Informace o knize

Autor
Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez
Jazyk
Angličtina
Vazba
Kniha - Pevná
Vydáno
2017
Stránek
111
EAN
9783319533117
ISBN
3319533118
Enbook ID
15730104
Vydavatel
Springer International Publishing AG
Hmotnost
395
Rozměry
155 x 235 x 13

Kompletní popis

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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