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Decentralized Neural Control: Application to Robotics

Name: Decentralized Neural Control: Application to Robotics
Brand: Springer International Publishing AG
SKU: 15730104
Price: 50345 HUF
Availability: InStock
Author: Ramon Garcia-Hernandez
ISBN: 9783319533117

Ramon Garcia-Hernandez

Michel Lopez-Franco

Edgar N. Sanchez

Alma Y. Alanis

Jose A. Ruz-Hernandez

Language

English

Book Hardback

Libristo code: 15730104

Publishers Springer International Publishing AG, February 2017

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

Libristo code: 15730104

335 b

50 345 Ft

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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.