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Cartesian Space Consensus of Heterogeneous and Uncertain Euler-Lagrange Systems Using Artificial Neural Networks

Remberto Machuca, Carlos I. Aldana, Rodrigo Munguía and Emmanuel Nuño*
International Journal of Control, Automation, and Systems, vol. 15, no. 3, pp.1447-1455, 2017

Abstract : "This work reports a radial basis Artificial Neural Network controller that solves the leader-follower and leaderless pose (position and orientation) consensus problems, in the Special Euclidean space of dimension three (SE(3)), in robot networks composed of heterogeneous (kinematically and dynamically different) and uncertain robots. The proposed approach employs, the singularity-free, unit-quaternions to represent the orientation of the end-effectors in the SE(3). The performance of the proposed controller is illustrated via simulations with a five heterogeneous robot network."

Keyword : Adaptive control, artificial neural networks, cartesian space, consensus, Euler-Lagrange systems.

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