DocumentCode
295180
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
Volume
2
fYear
1995
fDate
13-15 Dec 1995
Firstpage
1833
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.480608
Filename
480608
Link To Document