Application of N-step-ahead neurocontrol on articulated manipulators

DSpace/Manakin Repository

Show simple item record

dc.contributor.author Hountras, A en
dc.contributor.author Antoniadis, I en
dc.contributor.author Kanarachos, A en
dc.date.accessioned 2014-03-01T01:15:29Z
dc.date.available 2014-03-01T01:15:29Z
dc.date.issued 2000 en
dc.identifier.issn 0741-2223 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/13532
dc.subject.classification Robotics en
dc.subject.other NEURAL NETWORKS en
dc.subject.other SYSTEM-IDENTIFICATION en
dc.subject.other DYNAMIC-SYSTEMS en
dc.subject.other CONTROLLERS en
dc.subject.other MODELS en
dc.title Application of N-step-ahead neurocontrol on articulated manipulators en
heal.type journalArticle en
heal.identifier.primary 10.1002/(SICI)1097-4563(200003)17:3<127::AID-ROB1>3.3.CO;2-P en
heal.identifier.secondary http://dx.doi.org/10.1002/(SICI)1097-4563(200003)17:3<127::AID-ROB1>3.3.CO;2-P en
heal.language English en
heal.publicationDate 2000 en
heal.abstract The N-step-ahead control method, called chain-back-propagation, is applied to articulated manipulators. The method is based on a pair of: neural networks-the neural controller and the neural emulator-and focuses mainly in the appropriate design of the various global and chain-local penalty functions and the convergence control limitations, needed for the on-line training of the controller. No reference models or paths are needed for the implementation of the method, only set-points. The results, compared to conventional proportional-derivative (PD) control and to traditional one-step-ahead neural control, are quite satisfactory, indicating improved accuracy, faster response, and greater overall efficiency, (C) 2000 John Wiley & Sons, Inc. en
heal.publisher JOHN WILEY & SONS INC en
dc.identifier.doi 10.1002/(SICI)1097-4563(200003)17:3<127::AID-ROB1>3.3.CO;2-P en
dc.identifier.isi ISI:000085562100001 en
dc.identifier.volume 17 en
dc.identifier.issue 3 en
dc.identifier.spage 127 en
dc.identifier.epage 148 en

Files in this item

Files Size Format View

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record