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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
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
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