Using Time-Discrete Recurrent Neural Networks in Nonlinear Control
نویسندگان
چکیده
Nonlinear Control Thorsten Kolb, Winfried Ilg, Jorg Wille Abstract|We introduce a type of fully connected Recurrent Neural Networks (RNN) with special mathematical features which allows us to determine its qualitative dynamical behaviour. Based on this family of RNNs we describe a learning framework for the generation of trajectories with which we are able to solve adaptive control problems which is illustrated by the realization of adaptive leg control of a six-legged walking machine. Keywords| Sequence generation, adaptive control, fault tolerance, recurrent neural networks
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