A set of nonlinear equations and inequalities arising in robotics and its online solution via a primal neural network
نویسنده
چکیده
In this paper, for handling general minimum-effort inverse-kinematic problems, the nonuniqueness condition is investigated. A set of nonlinear equations and inequality is presented for online nonuniqueness-checking. The concept and utility of primal neural networks (NNs) are introduced in this context of dynamical inequalities and constraints. The proposed primal NN can handle well such a nonlinear online-checking problem in the form of a set of nonlinear equations and inequality. Numerical examples demonstrate the effectiveness and advantages of the primal NN approach. r 2006 Elsevier B.V. All rights reserved.
منابع مشابه
Solving nonlinear Lane-Emden type equations with unsupervised combined artificial neural networks
In this paper we propose a method for solving some well-known classes of Lane-Emden type equations which are nonlinear ordinary differential equations on the semi-innite domain. The proposed approach is based on an Unsupervised Combined Articial Neural Networks (UCANN) method. Firstly, The trial solutions of the differential equations are written in the form of feed-forward neural networks cont...
متن کاملABS Solution of equations of second kind and application to the primal-dual interior point method for linear programming
Abstract We consider an application of the ABS procedure to the linear systems arising from the primal-dual interior point methods where Newton method is used to compute path to the solution. When approaching the solution the linear system, which has the form of normal equations of the second kind, becomes more and more ill conditioned. We show how the use of the Huang algorithm in the ABS cl...
متن کاملAdaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملA Recurrent Neural Network Model for Solving Linear Semidefinite Programming
In this paper we solve a wide rang of Semidefinite Programming (SDP) Problem by using Recurrent Neural Networks (RNNs). SDP is an important numerical tool for analysis and synthesis in systems and control theory. First we reformulate the problem to a linear programming problem, second we reformulate it to a first order system of ordinary differential equations. Then a recurrent neural network...
متن کاملA Solution to the Problem of Extrapolation in Car Following Modeling Using an online fuzzy Neural Network
Car following process is time-varying in essence, due to the involvement of human actions. This paper develops an adaptive technique for car following modeling in a traffic flow. The proposed technique includes an online fuzzy neural network (OFNN) which is able to adapt its rule-consequent parameters to the time-varying processes. The proposed OFNN is first trained by an growing binary tree le...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Neurocomputing
دوره 70 شماره
صفحات -
تاریخ انتشار 2006