Description: Decentralized Neural Control: Application to Robotics Please note: this item is printed on demand and will take extra time before it can be dispatched to you (up to 20 working days). Author(s): Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma y. Alanis, Jose A. Ruz-Hernandez Format: Paperback Publisher: Springer International Publishing AG, Switzerland Imprint: Springer International Publishing AG ISBN-13: 9783319851235, 978-3319851235 Synopsis 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 [url] 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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Book Title: Decentralized Neural Control: Application to Robotics
Number of Pages: 111 Pages
Language: English
Publication Name: Decentralized Neural Control: Application to Robotics
Publisher: Springer International Publishing A&G
Publication Year: 2018
Subject: Engineering & Technology, Computer Science
Item Height: 235 mm
Item Weight: 209 g
Type: Textbook
Author: Jose A. Ruz-Hernandez, Edgar N. Sanchez, Michel Lopez-Franco, Alma Y. Alanis, Ramon Garcia-Hernandez
Subject Area: Mechanical Engineering
Series: Studies in Systems, Decision and Control
Item Width: 155 mm
Format: Paperback
