Inverse dynamics controllers for robust control: Consequences for neurocontrollers

Csaba Szepesári, A. Lőrincz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

It is proposed that controllers that approximate the inverse dynamics of the controlled plant can be used for on-line compensation of changes in the plant's dynamics. The idea is to use the very same controller in two modes at the same time: both for static and dynamic feedback. Implications for the learning of neurocontrollers are discussed. The proposed control mode relaxes the demand of precision and as a consequence, controllers that utilise direct associative learning by means of local function approximators may become more tractable in higher dimensional spaces.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Pages791-796
Number of pages6
Volume1112 LNCS
ISBN (Print)3540615105, 9783540615101
DOIs
Publication statusPublished - 1996
Event1996 International Conference on Artificial Neural Networks, ICANN 1996 - Bochum, Germany
Duration: Jul 16 1996Jul 19 1996

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1112 LNCS
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other1996 International Conference on Artificial Neural Networks, ICANN 1996
CountryGermany
CityBochum
Period7/16/967/19/96

Fingerprint

Inverse Dynamics
Robust control
Robust Control
Controller
Controllers
High-dimensional
Feedback
Learning

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Szepesári, C., & Lőrincz, A. (1996). Inverse dynamics controllers for robust control: Consequences for neurocontrollers. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 1112 LNCS, pp. 791-796). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1112 LNCS). Springer Verlag. https://doi.org/10.1007/3-540-61510-5_133

Inverse dynamics controllers for robust control : Consequences for neurocontrollers. / Szepesári, Csaba; Lőrincz, A.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 1112 LNCS Springer Verlag, 1996. p. 791-796 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1112 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Szepesári, C & Lőrincz, A 1996, Inverse dynamics controllers for robust control: Consequences for neurocontrollers. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 1112 LNCS, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 1112 LNCS, Springer Verlag, pp. 791-796, 1996 International Conference on Artificial Neural Networks, ICANN 1996, Bochum, Germany, 7/16/96. https://doi.org/10.1007/3-540-61510-5_133
Szepesári C, Lőrincz A. Inverse dynamics controllers for robust control: Consequences for neurocontrollers. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 1112 LNCS. Springer Verlag. 1996. p. 791-796. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/3-540-61510-5_133
Szepesári, Csaba ; Lőrincz, A. / Inverse dynamics controllers for robust control : Consequences for neurocontrollers. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 1112 LNCS Springer Verlag, 1996. pp. 791-796 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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