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Electrical and Computer Engineering
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Full-Text Articles in Engineering
Adaptive Control Of Robotic Manipulators Using Deep Neural Networks, Irfan Ganie, Sarangapani Jagannathan
Adaptive Control Of Robotic Manipulators Using Deep Neural Networks, Irfan Ganie, Sarangapani Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, we present a lifelong deep learning-based control of robotic manipulators with nonstandard adaptive laws using singular value decomposition (SVD) based direct tracking error driven (DTED) approach. Moreover, we incorporate concurrent learning (CL) to relax persistency of excitation condition and elastic weight consolidation (EWC) for lifelong learning on different tasks in the adaptive laws. Simulation results confirm theoretical conclusions.
Concurrent Learning-Based Neuro-Adaptive Robust Tracking Control Of Wheeled Mobile Robot: An Event-Triggered Design, Krishanu Nath, Manas Kumar Bera, Sarangapani Jagannathan
Concurrent Learning-Based Neuro-Adaptive Robust Tracking Control Of Wheeled Mobile Robot: An Event-Triggered Design, Krishanu Nath, Manas Kumar Bera, Sarangapani Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, an event-based neuro-adaptive robust tracking controller for a perturbed and networked differential drive mobile robot (DMR) is designed with concurrent learning. A radial basis function neural network, which approximates an unknown perturbation, is used to design an adaptive sliding mode controller (SMC). The RBFNN weights and SMC parameters are estimated online using an adaptive tuning law to ensure performance with reduced chattering. To improve the convergence of RBFNN weight estimation error, a concurrent learning-based adaptive law is derived, which uses measured online and recorded data. Further, a suitable triggering condition is designed to achieve a reduced number …