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

Description: Decentralized Neural Control: Application to Robotics by Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma y. Alanis, Jose A. Ruz-Hernandez 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 thirdcontrol 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. FORMAT Paperback LANGUAGE English CONDITION Brand New Back Cover 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. Table of Contents 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. Feature Presents recent research in decentralized neural control Includes applications to robotics Presents results in simulation and real time Details ISBN3319851233 Author Jose A. Ruz-Hernandez Series Studies in Systems, Decision and Control ISBN-10 3319851233 ISBN-13 9783319851235 Format Paperback Subtitle Application to Robotics DEWEY 006.3 Affiliation Advanced Studies and Research Center of the National Polytechnic Institute (Cinvestav-Ipn) Guadalajara Mexico Pages 111 Publisher Springer International Publishing AG Year 2018 Publication Date 2018-07-13 Imprint Springer International Publishing AG Place of Publication Cham Country of Publication Switzerland Language English Series Number 96 UK Release Date 2018-07-13 Illustrations 3 Illustrations, color; 51 Illustrations, black and white; XV, 111 p. 54 illus., 3 illus. in color. Edition Description Softcover reprint of the original 1st ed. 2017 Alternative 9783319533117 Audience Professional & Vocational We've got this At The Nile, if you're looking for it, we've got it. With fast shipping, low prices, friendly service and well over a million items - you're bound to find what you want, at a price you'll love! TheNile_Item_ID:131032527;

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