Deep neural networks as add-on modules for enhancing robot performance in impromptu trajectory tracking.
Siqi ZhouMohamed K. HelwaAngela P. SchoelligPublished in: Int. J. Robotics Res. (2020)
Keyphrases
- trajectory tracking
- neural network
- neural network structure
- closed loop
- neural network controller
- bi directional
- dynamic model
- control system
- iterative learning
- physical constraints
- visual servoing
- control method
- control law
- fuzzy logic
- iterative learning control
- sliding mode
- wheeled mobile robots
- training process
- artificial neural networks
- associative memory
- back propagation
- neural network model
- genetic algorithm
- multi layer perceptron
- mobile robot
- control algorithm
- pid controller
- experimental data
- feed forward
- multilayer perceptron
- incremental learning
- neural nets
- control scheme
- control theory
- robot manipulators
- error reduction
- image space
- adaptive control
- hidden layer
- radial basis function
- membership functions
- fuzzy neural network
- fuzzy control