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A Neurocontrol Scheme of a 2-DOF Manipulator Using CMAC

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MICAI 2000: Advances in Artificial Intelligence (MICAI 2000)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 1793))

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Abstract

Artificial Neural Networks (ANN) are an emerging technology, yet, in continuous dynamic behavior, much work has been done to attempt to generate a formal method to design a controller based on this technology. Based on this fact we are starting to work towards contributing to the generation of a formal method of the application of neurocontrol and thus present several control schemes using multilayer perceptrons and also Albus’ Cerebellar Model Articulation Controller (CMAC). The control schemes are presented and explained. The direct inverse neurocontroller model is used as the system controller without a linear controller. Results from two neurocontrollers are presented in a comparative way versus linear system using a 2-DOF plant.

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Author information

Authors and Affiliations

  1. Depto. de Electrónica, Sistemas e Informáica, Instituto Tecnológico de Estudios Superiores de Occidente, ITESO, Tlaquepaque, Jal., 45090, México

    Raúl Leal Ascencio

  2. Depto. de Electrónica, Sistemas e Informática, Instituto Tecnológico de Estudios Superiores de Occidente, ITESO, Tlaquepaque, Jal., 45090, México

    Marco Perez Cisneros

Authors
  1. Raúl Leal Ascencio
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  2. Marco Perez Cisneros
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Editor information

Editors and Affiliations

  1. Department of Computer Science Instituto Tecnológico Autónomo de México (ITAM), Río Hondo 1, 01080, México DF, México

    Osvaldo Cairó

  2. Monterrey Institute of Technology (ITESM), Campus Morelos, Av. Reforma 182-A, Lomas de Cuernvaca, Temixco, 62589, Morelos, Mexico

    L. Enrique Sucar

  3. ITESM Campus Monterrey, Research and Graduate Studies Office, Monterrey, N.L., México

    Francisco J. Cantu

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© 2000 Springer-Verlag Berlin Heidelberg

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Leal Ascencio, R., Perez Cisneros, M. (2000). A Neurocontrol Scheme of a 2-DOF Manipulator Using CMAC. In: Cairó, O., Sucar, L.E., Cantu, F.J. (eds) MICAI 2000: Advances in Artificial Intelligence. MICAI 2000. Lecture Notes in Computer Science(), vol 1793. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10720076_19

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  • DOI: https://doi.org/10.1007/10720076_19

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-67354-5

  • Online ISBN: 978-3-540-45562-2

  • eBook Packages: Springer Book Archive

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