Concept of virtual master-slave systems and its application to the design of a neuro-interface

Rafiuddin Syam; Keigo Watanabe; Kiyotaka Izumi

Concept of virtual master-slave systems and its application to the design of a neuro-interface

Rafiuddin Syam, Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to conference › Paper › peer-review

Abstract

A design method for neural network (NN) based feedforward controller in the framework of neurointerface is proposed for nonholonomic robots by applying a concept of virtual master-slave system, in which a master robot is assumed to have a stable inverse dynamical model that includes unknown physical parameters. A PD-based feedback compensator is simply added to the neurointerface to suppress an output deviation caused by the mapping error of NN. The effectiveness of the present approach is shown by a simulation for a tracking control problem of a nonholonomic mobile robot with two-independent driving wheels.

Original language	English
Pages	717-722
Number of pages	6
Publication status	Published - Dec 1 2004
Externally published	Yes
Event	SICE Annual Conference 2004 - Sapporo, Japan Duration: Aug 4 2004 → Aug 6 2004

Other

Other	SICE Annual Conference 2004
Country	Japan
City	Sapporo
Period	8/4/04 → 8/6/04

Keywords

Dynamical inverse systems
Feedback compensator
Neural networks
Neurointerface
Nonholonomic mobile robots
Virtual master-slave

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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title = "Concept of virtual master-slave systems and its application to the design of a neuro-interface",

abstract = "A design method for neural network (NN) based feedforward controller in the framework of neurointerface is proposed for nonholonomic robots by applying a concept of virtual master-slave system, in which a master robot is assumed to have a stable inverse dynamical model that includes unknown physical parameters. A PD-based feedback compensator is simply added to the neurointerface to suppress an output deviation caused by the mapping error of NN. The effectiveness of the present approach is shown by a simulation for a tracking control problem of a nonholonomic mobile robot with two-independent driving wheels.",

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AU - Syam, Rafiuddin

AU - Watanabe, Keigo

AU - Izumi, Kiyotaka

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N2 - A design method for neural network (NN) based feedforward controller in the framework of neurointerface is proposed for nonholonomic robots by applying a concept of virtual master-slave system, in which a master robot is assumed to have a stable inverse dynamical model that includes unknown physical parameters. A PD-based feedback compensator is simply added to the neurointerface to suppress an output deviation caused by the mapping error of NN. The effectiveness of the present approach is shown by a simulation for a tracking control problem of a nonholonomic mobile robot with two-independent driving wheels.

AB - A design method for neural network (NN) based feedforward controller in the framework of neurointerface is proposed for nonholonomic robots by applying a concept of virtual master-slave system, in which a master robot is assumed to have a stable inverse dynamical model that includes unknown physical parameters. A PD-based feedback compensator is simply added to the neurointerface to suppress an output deviation caused by the mapping error of NN. The effectiveness of the present approach is shown by a simulation for a tracking control problem of a nonholonomic mobile robot with two-independent driving wheels.

KW - Dynamical inverse systems

KW - Feedback compensator

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KW - Nonholonomic mobile robots

KW - Virtual master-slave

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