In this paper, we present a lifelong deep learning-based control of robotic manipulators with nonstandard adaptive laws using singular value decomposition (SVD) based direct tracking error driven (DTED) approach. Moreover, we incorporate concurrent learning (CL) to relax persistency of excitation condition and elastic weight consolidation (EWC) for lifelong learning on different tasks in the adaptive laws. Simulation results confirm theoretical conclusions.
I. Ganie and S. Jagannathan, "Adaptive Control of Robotic Manipulators using Deep Neural Networks," IFAC-PapersOnLine, vol. 55, no. 15, pp. 148 - 153, Elsevier; International Federation of Automatic Control (IFAC), Jul 2022.
The definitive version is available at https://doi.org/10.1016/j.ifacol.2022.07.623
Electrical and Computer Engineering
Keywords and Phrases
concurrent learning; deep neural networks; elastic weight consolidation; lifelong learning; SVD
International Standard Serial Number (ISSN)
Article - Conference proceedings
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01 Jul 2022