NDLI: Intelligent control with the growing competitive linear local mapping neural network for robotic hand-eye coordination

Content Provider	IEEE Xplore Digital Library
Author	Cimponeriu, A. Kihl, H.
Copyright Year	1998
Description	Author affiliation: Polytech.. Univ. of Timisoara, Romania (Cimponeriu, A.)
Abstract	Several intelligent features are embedded in the growing competitive linear local mapping neural network. They result in an adaptive, fast-learning, very efficient control scheme, suited for closed-loop systems. The use of the Moore-Penrose pseudoinverse allows us to generalize our results to nonredundant manipulators and to redundant visual features. Information acquired during the current movement can update the control matrix. Instead of learning the entire workspace, only one or a few trajectories can be learnt, in one pass per trajectory. The feedback loop and the fast convergence of RLS allow an active learning of the local Jacobians.
Starting Page	46
Ending Page	52
File Size	618021
Page Count	7
File Format	PDF
ISBN	0780343166
DOI	10.1109/KES.1998.725952
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-04-21
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent control Jacobian matrices Intelligent networks Competitive intelligence Neural networks Programmable control Adaptive control Control systems Feedback loop Convergence
Content Type	Text
Resource Type	Article

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Intelligent control with the growing competitive linear local mapping neural network for robotic hand-eye coordination