NDLI: Telemanipulator neurocontrol using multiple RBF networks

Content Provider	IEEE Xplore Digital Library
Author	Tzafestas, S.G. Prokopiou, P.A. Tzafestas, C.S.
Copyright Year	1997
Description	Author affiliation: Lab. for Intelligent, Robotics & Autom., Nat. Tech. Univ. of Athens, Greece (Tzafestas, S.G.)
Abstract	This paper addresses the control problem of masterslave 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 of S. Lee and H.S. Lee (1993, 1994), 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 online learning. The effectiveness of the present RBF neurocontroller was investigated through extensive simulation and compared to that of MLP (multilayer perceptron) neurocontroller and a robust sliding-mode controller representative.
Starting Page	257
Ending Page	262
File Size	686033
Page Count	6
File Format	PDF
ISBN	0780341163
ISSN	21589860
DOI	10.1109/ISIC.1997.626467
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-07-16
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Radial basis function networks Robot kinematics Error correction Neural networks Teleoperators Master-slave Uncertainty Delay effects Robotics and automation Neurocontrollers
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Mr. Siddhartha Mukherjee siddhartha@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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