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Decentralized Neural Control: Application to Robotics

  • Book
  • © 2017

Overview

Authors:
  1. Ramon Garcia-Hernandez

    1. Universidad Autonoma del Carmen , Cd. del Carmen, Mexico

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  2. Michel Lopez-Franco

    1. Zapopan, Mexico

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  3. Edgar N. Sanchez

    1. Zapopan, Mexico

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  4. Alma y. Alanis

    1. Universidad de Guadalajara , Guadalajara, Mexico

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  5. Jose A. Ruz-Hernandez

    1. Universidad Autonoma del Carmen , Cd. del Carmen, Mexico

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  • Presents recent research in decentralized neural control
  • Includes applications to robotics
  • Presents results in simulation and real time
  • Includes supplementary material: sn.pub/extras

Part of the book series: Studies in Systems, Decision and Control (SSDC, volume 96)

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Table of contents (8 chapters)

  1. Front Matter

    Pages i-xv
    Download chapter PDF

  2. Introduction

    • Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez
    Pages 1-7

  3. Foundations

    • Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez
    Pages 9-18

  4. Decentralized Neural Block Control

    • Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez
    Pages 19-32

  5. Decentralized Neural Backstepping Control

    • Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez
    Pages 33-43

  6. Decentralized Inverse Optimal Control for Stabilization: A CLF Approach

    • Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez
    Pages 45-54

  7. Decentralized Inverse Optimal Control for Trajectory Tracking

    • Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez
    Pages 55-68

  8. Robotics Application

    • Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez
    Pages 69-109

  9. Conclusions

    • Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Jose A. Ruz-Hernandez
    Pages 111-111
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Keywords

About this book

This book provides a decentralized approach for the identification and control of robotics systems. It also presents recent research in decentralized neural control and includes applications to robotics. Decentralized control is free from difficulties due to complexity in design, debugging, data gathering and storage requirements, making it preferable for interconnected systems. Furthermore, as opposed to the centralized approach, it can be implemented with parallel processors.

This approach deals with four decentralized control schemes, which are able to identify the robot dynamics. The training of each neural network is performed on-line using an extended Kalman filter (EKF).

The first indirect decentralized control scheme applies the discrete-time block control approach, to formulate a nonlinear sliding manifold.

The second direct decentralized neural control scheme is based on the backstepping technique, approximated by a high order neural network.

The thirdcontrol scheme applies a decentralized neural inverse optimal control for stabilization.

The fourth decentralized neural inverse optimal control is designed for trajectory tracking.

This comprehensive work on decentralized control of robot manipulators and mobile robots is intended for professors, students and professionals wanting to understand and apply advanced knowledge in their field of work. 

Authors and Affiliations

  • Universidad Autonoma del Carmen , Cd. del Carmen, Mexico

    Ramon Garcia-Hernandez, Jose A. Ruz-Hernandez

  • Zapopan, Mexico

    Michel Lopez-Franco, Edgar N. Sanchez

  • Universidad de Guadalajara , Guadalajara, Mexico

    Alma y. Alanis

Bibliographic Information

  • Book Title: Decentralized Neural Control: Application to Robotics

  • Authors: Ramon Garcia-Hernandez, Michel Lopez-Franco, Edgar N. Sanchez, Alma y. Alanis, Jose A. Ruz-Hernandez

  • Series Title: Studies in Systems, Decision and Control

  • DOI: https://doi.org/10.1007/978-3-319-53312-4

  • Publisher: Springer Cham

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer International Publishing Switzerland 2017

  • Hardcover ISBN: 978-3-319-53311-7Published: 13 February 2017

  • Softcover ISBN: 978-3-319-85123-5Published: 13 July 2018

  • eBook ISBN: 978-3-319-53312-4Published: 05 February 2017

  • Series ISSN: 2198-4182

  • Series E-ISSN: 2198-4190

  • Edition Number: 1

  • Number of Pages: XV, 111

  • Number of Illustrations: 51 b/w illustrations, 3 illustrations in colour

  • Topics: Computational Intelligence, Control and Systems Theory, Robotics and Automation

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