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Self-Organising Locally Interpolating Maps in Control Engineering

eBook (PDF), 177 Pages
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The work is motivated by problems during automated motion control of mobile microrobots. For a high positioning accuracy a data-based learning controller model is required since a microrobot's motion behaviour is difficult to model and since the model parameters even change with time. The approach of the Self-Organising Locally Interpolating Map (SOLIM) includes a new method that continuously and interpretably maps from a grid of input support vectors, e.g. a robot's velocity, to a grid of output support vectors, e.g. corresponding control commands. Moreover, a learning algorithm has been developed, which iteratively adapts the output support vectors such that the SOLIM map represents an inverse model of the unknown system to be controlled. The most important properties of the SOLIM approach have been proven in simulations and during position control of mobile micro-robots.
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Product Details

Publisher
helge.huelsen
Published
September 30, 2011
Language
English
Pages
177
File Format
PDF
File Size
6.71 MB

Formats for this Ebook

PDF
Required Software Any PDF Reader, Apple Preview
Supported Devices Windows PC/PocketPC, Mac OS, Linux OS, Apple iPhone/iPod Touch... (See More)
# of Devices Unlimited
Flowing Text / Pages Pages
Printable? Yes
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