robust recurrent neural network control of biped robot

Ngày tải lên: 22/07/2014, 02:20

... the performance of the controller. Daniel Eggert Lyngby, den 24. februar 2003 iv viii Chapter 2 Neural Network Model Based Predictive Control The aim of controller design is to construct a controller ... be of equal magnitude. The neural network model will not have to model the mean and standard deviation of 20 Chapter 2 Neural Network Model Based Predictive Control • time series predictor of ... non-linear model of the plant to do the prediction of plant outputs. This chapter deals with using a neural network model of the plant to do predictive control. First we discuss the linear case of predictive...

Ngày tải lên: 19/02/2014, 09:20

... variable-length strings of symbols must be converted to ANN input/output form fixed-length arrays of numbers. A common view in the neural network community has been that different forms of input/output ... the variable length of words, recurrent ANNs have sometimes been used. In a recurrent ANN, the values of nodes in the output or hidden layers are recycled to a portion of the input layer nodes. ... portion of the input layer nodes. Input to the network thus consists of a letter representation plus the state of the network after all previous letters. Recurrent ANNs have 1490 ...

Ngày tải lên: 31/03/2014, 04:20

Ngày tải lên: 22/07/2014, 03:21

Ngày tải lên: 28/04/2014, 10:16

Ngày tải lên: 21/06/2014, 17:20

Ngày tải lên: 27/06/2014, 18:20

... contents of the control loop is the subject of the remaining chapters of Part I. Chapter 2 Choosing a Motion Control Technology 2 Part I. Motion Control Chapter 2. Choosing a Motion Control ... 4.3. Block diagram of system to be observer and better controlled. The design of a sliding mode controller will follow the method of Slotine and Li [25] for the simpler case of a first order ... and reality. The robustness of various control systems will be discussed throughout the remainder of Part I. Control Methodologies The voltage applied to the motor is the controlling input...

Ngày tải lên: 05/11/2013, 21:15

... using neural networks. In the first part, in-depth surveys of recent progress of neural network computing paradigms are presented. Part One consists of five chapters: • Chapter 1: Introduction to Neural ... extension of the conventional PCA. • Chapter 9: Applications of Artificial Neural Networks to Time Series Prediction. In this chapter, Liao, Moody, and Wu provide a technical overview of neural network approaches ... important application of artificial neural networks. In fact, a majority of neural network applications can be categorized as solving complex pattern classification problems. In the area of signal processing,...

Ngày tải lên: 12/12/2013, 23:15

... graph consists of nodes (in the case of a neural network, neurons, as well as external inputs) and directed arcs (in the case of a neural network, synaptic links). The topology of the graph can ... a neural network with cyclic topology contains at least one cycle formed by directed arcs. Such a neural network is also known as a recurrent network. Due to the feedback loop, a recurrent network ... be regarded as a special case of an ensemble network. 1.2.5.2 Mixture of Expert (MoE) Network In a mixture of expert (MoE) network [13], each individual neural network module will spe- cialize...

Ngày tải lên: 12/12/2013, 23:15

Ngày tải lên: 14/12/2013, 12:15

... Various neural network based monitoring and control schemes. (a) A neural identifier combined with an adaptive controller. (b) A gain-tuning neural network controller. (c) A feedforward neural controller ... form of the neural network controller combined with a simple conventional controller, shown in Figure 12.10(c). In this control structure, the conventional controller is used to provide the network ... tremendous research efforts in control of manufacturing processes. Table 12.2 sum- marizes the types of neural network control in various manufacturing processes. Some neural network applications to...

Ngày tải lên: 25/12/2013, 19:15

Ngày tải lên: 13/02/2014, 08:20

Ngày tải lên: 05/03/2014, 15:20

... Take Control of Sharing Files in Panther, by Glenn Fleishman Take Control ofEmail with Apple Mail, by Joe Kissell Take Control of Spam with Apple Mail, by Joe Kissell Take Control ofMakingMusic ... at http://www.tidbits.com/takecontrol/. Take Control of Upgrading to Panther, by Joe Kissell Take Control of CnstomizingPanther, by Matt Neuburg Take Control of Users &Accounts in Panther, ... if one number is often busy. Table of Contents FOREWORD IX Take Control Benefits x Free Updates .xi Time to Take Control! xii TAKE CONTROL OF YOUR AIRPORT NETWORK 1 Introduction...

Ngày tải lên: 14/03/2014, 22:20

... third neural network combines the ad- vantages of the generative probability model with the advantages of the discriminative opti- mization criteria. The structure of the network and the set of ... models differ in the crite- ria the neural networks are trained to optimize. Two of the neural networks are trained using the standard maximum likelihood approach of opti- mizing the same probability ... The Nature of Statistical Learning Theory. Springer-Verlag, New York. Discriminative Training of a Neural Network Statistical Parser James HENDERSON School of Informatics, University of Edinburgh 2...

Ngày tải lên: 23/03/2014, 19:20