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Intelligent coordination of multiple systems with neural networks

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2 Author(s)
Xianzhong Cui ; Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA ; Shin, K.G.

A multiple-system coordinator that combines the techniques of intelligent control and neural networks, and forms the high-level coordinator in a hierarchical structure, is proposed. The basic idea is to estimate the effects of the control commands to subsystems using a predictor and modify these commands using a knowledge-based coordinator so as to achieve the desired performance. The predictor was designed for multiple-input, multiple-output systems using neural networks. The knowledge-based coordinator is responsible for a goal-oriented search in its knowledge base and the overall system stability. As an example, the coordination of two two-link robots holding a single object is discussed

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:21 ,  Issue: 6 )