Experiments in On-Line Learning Neuro-Control

May 1999

Proceedings of the Twelfth International Florida Artificial Intelligence Research Society Conference (FLAIRS 1999)

Volume

Proceedings of the Twelfth International Florida Artificial Intelligence Research Society Conference (FLAIRS 1999)

All Papers

We apply our on-line learning neural network approach to control of non-linear systems; first to joint level trajectory control of an industrial welding robot, and then to one front leg of a hexapod walking robot. The first application demonstrates the ability of neuro-control to model complex non-linear components of a plant, thereby yielding impressive improvements in accuracy compared to the original robot’s controller. The second aplication illustrates the strength of an on-line learning approach in coping with disturbances to a plant’s characteristics. In order to set the work in context we briefly review our on-line learning neuro-control method, used for both sets of experiments. It has a strict theoretical basis including guarantees of the whole system’s stability.