Real-time Implementation of Neural Network Learning Control of a Flexible Space Manipulator

Résumé du livre

Abstract: "This paper discusses a neural network approach to on- line control learning and real-time implementation for a flexible space robot manipulator. We at first overview the system development of the Self-Mobile Space Manipulator (SM2) and discuss the motivations of our research. Then, we propose a neural network to learn control by updating feedforward dynamics based on feedback control input. We address in great detail the implementation issues associated with on-line training strategies and present a simple stochastic training scheme. A new recurrent neural network architecture is proposed, and the performance is greatly improved in comparison to the standard neural network