Assistive robotic exoskeleton using recurrent neural networks for decision taking for the robust trajectory tracking

2022 ◽  
pp. 116482
Author(s):  
Ruben Fuentes-Alvarez ◽  
Joel Hernandez Hernandez ◽  
Ivan Matehuala-Moran ◽  
Mariel Alfaro-Ponce ◽  
Ricardo Lopez-Gutierrez ◽  
...  
2019 ◽  
Vol 66 (1) ◽  
pp. 98
Author(s):  
J. Perez Padrón ◽  
J.P. Pérez Padrón ◽  
C.F. Mendez-Barrios ◽  
E.J. Gonzalez-Galvan

This paper presents an application of a Fractional Order Time Delay Neural Networks to chaos synchronization. The two main methodologies, on which the approach is based, are fractional order time-delay recurrent neural networks and the fractional order  inverse optimal control for nonlinear systems. The problem of trajectory tracking is studied, based on the fractional order Lyapunov-Krasovskii and Lur’e theory, that achieves the global asymptotic stability of the tracking error between a delayed recurrent neural network and a reference function is obtained. The method is illustrated for the synchronization, the analytic results we present a trajectory tracking simulation of a fractional order time-delay dynamical network and the Fractional Order Chua’s circuits


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