Decentralized neural control : application to robotics / Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez.
Garcia-Hernandez, Ramon, author.; Lopez-Franco, Michel, author.; Sanchez, Edgar N., author.; Alanis, Alma Y., author.; Ruz-Hernandez, Jose A., author.
2017
QA76.87
Available Online

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Title Decentralized neural control : application to robotics / Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez.
ISBN 9783319533124 (electronic book)
3319533126 (electronic book)
9783319533117
3319533118
DOI https://doi.org/10.1007/978-3-319-53312-4
Published Cham, Switzerland : Springer, 2017.
Language English
Description 1 online resource.
Other Standard Identifiers 10.1007/978-3-319-53312-4 doi
Call Number QA76.87
Dewey Decimal Classification 006.3/2
Summary 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. .
Bibliography, etc. Note Includes bibliographical references.
Access Note Access limited to authorized users.
Digital File Characteristics text file PDF
Source of Description Online resource; title from PDF title page (SpringerLink, viewed February 14, 2017).
Added Author Garcia-Hernandez, Ramon, author.
Lopez-Franco, Michel, author.
Sanchez, Edgar N., author.
Alanis, Alma Y., author.
Ruz-Hernandez, Jose A., author.
Series Studies in systems, decision and control ; v. 96.
Available in Other Form Print version: 9783319533117
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Introduction
Foundations
Decentralized Neural Block Control
Decentralized Neural Backstepping Control
Decentralized Inverse Optimal Control for Stabilization: a CLF Approach
Decentralized Inverse Optimal Control for Trajectory Tracking
Robotics Application
Conclusions.

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