Self-Adaptive Output Tracking with Applications to Active Binocular Tracking |
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Authors: | Sisil Kumarawadu Keigo Watanabe Kazuo Kiguchi Kiyotaka Izumi |
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Affiliation: | (1) Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga, 840-8502, Japan |
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Abstract: | In this article we present a neurally-inspired self-adaptive active binocular tracking scheme and an efficient mathematical model for online computation of desired binocular-head trajectories. The self-adaptive neural network (NN) model is general and can be adopted in output tracking schemes of any partly known robotic systems. The tracking scheme ingeniously combines the conventional Resolved Velocity Control (RVC) technique and an adaptive compensating NN model constructed using SoftMax basis functions as nonlinear activation function. Desired trajectories to the servo controller are computed online by the use of a suitable linear kinematics mathematical model of the system. Online weight tuning algorithm guarantees tracking with small errors and error rates as well as bounded NN weights. |
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Keywords: | active vision adaptive tracking SoftMax function neural networks robotic systems |
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