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Decentralized Neural Control: Application to Robotics - COLLECTIF

Decentralized Neural Control: Application to Robotics

Titre de l'éditeur : Decentralized Neural Control: Application to Robotics

COLLECTIF

 
150,36 $
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EN SAVOIR PLUS Résumé

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. 


Détails
Prix : 150,36 $
Catégorie :
Auteur :  COLLECTIF
Titre : Decentralized Neural Control: Application to Robotics
Date de parution : février 2017
Éditeur : LIVRES NUMÉRIQUES DIVERS
Sujet : NUL DIVERS
ISBN : 9783319533124 (3319533126)
Référence Renaud-Bray : 2180838
No de produit : 2180838
Droits numériques
Format : PDF
Disponibilité : Canada, consultez la liste des pays autorisés.
Gestion des droits numériques : Adobe DRM
Entrepôt numérique : NUMILOG
Nombre d'appareils autorisés : 3

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© LIVRES NUMÉRIQUES DIVERS 2017