Telemanipulator neurocontrol using multiple RBF networks

Tzafestas Spyros, G; Prokopiou Platon, A; Tzafestas Costas, S

dc.contributor.author	Tzafestas Spyros, G	en
dc.contributor.author	Prokopiou Platon, A	en
dc.contributor.author	Tzafestas Costas, S	en
dc.date.accessioned	2014-03-01T02:41:30Z
dc.date.available	2014-03-01T02:41:30Z
dc.date.issued	1997	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30496
dc.subject	Control Problem	en
dc.subject	Model Error	en
dc.subject	Multilayer Perceptron	en
dc.subject	Online Learning	en
dc.subject	Radial Basis Function	en
dc.subject	rbf network	en
dc.subject	rbf neural network	en
dc.subject	Neural Network	en
dc.subject	Sliding Mode Controller	en
dc.subject.other	Computer control	en
dc.subject.other	Intelligent control	en
dc.subject.other	Neural networks	en
dc.subject.other	Remote control	en
dc.subject.other	Multiple radial basis function neural networks	en
dc.subject.other	Telemanipulator neurocontrol	en
dc.subject.other	Manipulators	en
dc.title	Telemanipulator neurocontrol using multiple RBF networks	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ISIC.1997.626467	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ISIC.1997.626467	en
heal.publicationDate	1997	en
heal.abstract	This paper addresses the control problem of master-slave systems which involve severe modeling errors and other high - level uncertainties, using Neural Networks. The solution approach is based on a recent teleoperator control scheme (S. Lee and H. S. Lee), which is suitably enhanced such that to become capable of compensating the uncertainties. The class of radial-basis functions (RBF) neural networks are employed in a multipartitioned neural network architecture, and a special learning scheme is adopted which distributes the learning error to each subnetwork and allows on-line learning. The effectiveness of the present RBF neurocontroller was investigated through extensive simulation and compared to that of MLP (multi-layer perceptron) neurocontroller and a robust sliding-mode controller representative.	en
heal.publisher	IEEE, Piscataway, NJ, United States	en
heal.journalName	IEEE International Symposium on Intelligent Control - Proceedings	en
dc.identifier.doi	10.1109/ISIC.1997.626467	en
dc.identifier.spage	257	en
dc.identifier.epage	262	en