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Robot Control Application
Control System Overview
3 other sections not shown
acceleration signals accelerometers adaptive control angular-rate sensor approach artificial excitation backpropagation backpropagation algorithm bang-bang controller Bernard Widrow calculated capabilities Chapter complexity control component computation control application control problem cost function crosstalk deadband destabilizing developed digitally filtered direct discrete-valued functions DVFs effects eight thrusters Ethernet example experimental FCA network feedforward force error free-flying space robot gradient gradient-based optimization hard-limiting hidden layers hidden neurons ID process identification process implementation indirect training initial learning input issues layered network linear solution matrix method network control network topology neural-network control neural-network training noise level nominal thruster nonlinear number of hidden on-off thrusters output overfitting parameters PD controller Perceptron Position Error presented produce reconfigurable control system resulting seconds shown in Figure sigmoid functions Signal Flow stabilization Systron Donner 4310A thrust thruster characteristics thruster failures thruster mapper thruster mapping thruster pattern training set trajectory updated vision board yaw Angle