Title :
Designing neural networks for adaptive control
Author :
Kaiser, Michael ; Retey, Albert ; Dillmann, Rüdiger
Author_Institution :
Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
Abstract :
This paper discusses the design of neural networks to solve specific problems of adaptive control. In particular, it investigates the influence of typical problems arising in real-world control tasks as well as techniques for their solution that exist in the framework of neurocontrol. Based on this investigation, a systematic design method is developed. The method is exemplified for the development of an adaptive force controller for a robot manipulator
Keywords :
adaptive control; force control; manipulators; neurocontrollers; adaptive control; adaptive force controller; neural networks; neurocontrol; real-world control tasks; robot manipulator; systematic design method; Adaptive control; Control systems; Force control; Force sensors; Manipulators; Neural networks; Programmable control; Robot control; Robot sensing systems; State-space methods;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.480608
