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تسجيل مستخدم جديدA Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control
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نشر من قبل
David Navarro-Alarcon
تاريخ النشر
2020
مجال البحث
الهندسة المعلوماتية
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English
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In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a computational method that distributes the model estimation problem amongst multiple adaptive units that specialise in a local sensorimotor map. Different from traditional estimation algorithms, the proposed method requires little data to train and constrain it (the number of required data points can be analytically determined) and has rigorous stability properties (the conditions to satisfy Lyapunov stability are derived). Numerical simulations and experimental results are presented to validate the proposed method.
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