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Article
Adaptive Control of Robotic Manipulators using Deep Neural Networks
IFAC-PapersOnLine
Abstract
In this paper, we present a lifelong deep learning-based control of robotic manipulators with nonstandard adaptive laws using singular value decomposition (SVD) based direct tracking error driven (DTED) approach. Moreover, we incorporate concurrent learning (CL) to relax persistency of excitation condition and elastic weight consolidation (EWC) for lifelong learning on different tasks in the adaptive laws. Simulation results confirm theoretical conclusions.
Department(s)
Electrical and Computer Engineering
Keywords and Phrases
- concurrent learning,
- deep neural networks,
- elastic weight consolidation,
- lifelong learning,
- SVD
Document Type
Article - Conference proceedings
Document Version
Final Version
File Type
text
Language(s)
English
Rights
© 2023 The Authors, All rights reserved.
Creative Commons Licensing
Creative Commons Attribution-Noncommercial-No Derivative Works 4.0
Publication Date
7-1-2022
Publication Date
01 Jul 2022
Disciplines
Citation Information
Irfan Ganie and Sarangapani Jagannathan. "Adaptive Control of Robotic Manipulators using Deep Neural Networks" IFAC-PapersOnLine Vol. 55 Iss. 15 (2022) p. 148 - 153 ISSN: 2405-8963 Available at: http://works.bepress.com/jagannathan-sarangapani/266/
Office of Naval Research, Grant N00014-21-1-2232