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Ciclos límites en minirobots neurocontrolados
DOI:
https://doi.org/10.15446/ing.investig.n42.21067Keywords:
Redes neuronales artificiales, Modelos computacionales, Inteligencia artificial, Robótica (es)Artificial neural networks, Computational models, Artificial intelligence, Robotics (en)
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Este artículo presenta el análisis de estabilidad de un pequeño robot controlado con una red neuronal multicapa; por simplicidad, el robot contiene un sensor de posición y un motor. La función descriptiva de la red neuronal se utiliza para determinar los límites para los pesos de la red, con el fin de predecir ciclos limite y evitar oscilaciones del minirobot cuando se aproxima a obstáculos.
References
Agarwal, M. “A systematic classification of neural-network-based control”, IEEE Control Systems Magazine, 17, 75-93, 1997 DOI: https://doi.org/10.1109/37.581297
Delgado, A. “Input/output linearization of control affine systems using neural networks”. PhD Thesis. Cybernetics Department, Reading University, 1996.
Inteligencia artificial y minirobots, ECOE Ediciones, Bogotá. 1998
Kalil, H.K. Nonlinear Systems. Macmillan Publishing Company, New York, 1992.
Slotine J.E. and LI, W. Applied Nonlinear Control. Prentice-Hall, New Jersey. 1991
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Copyright (c) 1999 Jesús Alberto Delgado
This work is licensed under a Creative Commons Attribution 4.0 International License.
The authors or holders of the copyright for each article hereby confer exclusive, limited and free authorization on the Universidad Nacional de Colombia's journal Ingeniería e Investigación concerning the aforementioned article which, once it has been evaluated and approved, will be submitted for publication, in line with the following items:
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