A Recursive Algorithm for On-line Clustering Obstacles Cluttered in Dynamic Environments

Authors:
Jin-Liang Chen;Jing-Sin Liu;Wan-Chi Lee
Affiliations:
Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan, R.O.C.;Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan, R.O.C./ e-mail: liu@iis.sinica.edu.tw;Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan, R.O.C.
Venue:
Journal of Intelligent and Robotic Systems
Year:
2002

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Abstract

In this paper, a multi-layered feed-forward neural network is trained on-line by robust adaptive dead zone scheme to identify simulated faults occurring in the robot system and reconfigure the control law to prevent the tracking performance from deteriorating ...