期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2015
卷号：12
期号：4
页码：40
DOI：10.5772/58760
语种：English
出版社：SAGE Publications
摘要：A novel dual recurrent neural network is presented and is used to identify the dynamics for a robot arm with three-Degrees of freedom (DoF) and trained with a filtered error algorithm. The dual neural network has a structure of two recurrent neural networks working simultaneously fighting each other to obtain the best identification values, being the criteria for the selection of the vest values: the standard deviation for the identification error. The neural identifier provides important information to a nonlinear block control transformation form acting as a control law to solve the trajectory tracking problem for the robotic plant's behavior.
关键词：Robot arm; dual recurrent neural network; standard deviation for the identification error; nonlinear block control transformation form
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