Feedforward–Feedback Controller Based on a Trained Quaternion Neural Network Using a Generalised <inline-formula><math display="inline"><semantics><mi mathvariant="double-struck">HR</mi></semantics></math></inline-formula> Calculus with Application to Trajectory Control of a Three-Link Robot Manipulator
This study derives a learning algorithm for a quaternion neural network using the steepest descent method extended to quaternion numbers. This applies the generalised Hamiltonian–Real calculus to obtain derivatives of a real–valued cost function concerning quaternion variables and designs a feedback...
Main Authors: | , , |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2022-05-01
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Series: | Machines |
Subjects: | |
Online Access: | https://www.mdpi.com/2075-1702/10/5/333 |