%0 Conference Paper %1 szepesvari1996b %A Szepesvári, Cs. %A Lörincz, A. %B ICANN %D 1996 %K adaptive bioreactor control, manipulator networks neural theory, %P 697--702 %T Inverse Dynamics Controllers for Robust Control: Consequences for Neurocontrollers %X It is proposed that controllers that approximate the inverse dynamics of the controlled plant can be used for on-line compensation of changes in the plant's dynamics. The idea is to use the very same controller in two modes at the same time: both for static and dynamic feedback. Implications for the learning of neurocontrollers are discussed. The proposed control mode relaxes the demand of precision and as a consequence, controllers that utilise direct associative learning by means of local function approximators may become more tractable in higher dimensional spaces.

@inproceedings{szepesvari1996b, abstract = {It is proposed that controllers that approximate the inverse dynamics of the controlled plant can be used for on-line compensation of changes in the plant's dynamics. The idea is to use the very same controller in two modes at the same time: both for static and dynamic feedback. Implications for the learning of neurocontrollers are discussed. The proposed control mode relaxes the demand of precision and as a consequence, controllers that utilise direct associative learning by means of local function approximators may become more tractable in higher dimensional spaces.}, added-at = {2020-03-17T03:03:01.000+0100}, author = {Szepesv{\'a}ri, {Cs}. and L{\"o}rincz, A.}, biburl = {https://www.bibsonomy.org/bibtex/2f833b47d803173ed0d81c5ec19a4ef27/csaba}, booktitle = {ICANN}, date-added = {2010-08-28 17:38:14 -0600}, date-modified = {2010-11-25 00:58:31 -0700}, interhash = {7ac9a654f8ec07a753979530608edc14}, intrahash = {f833b47d803173ed0d81c5ec19a4ef27}, keywords = {adaptive bioreactor control, manipulator networks neural theory,}, pages = {697--702}, pdf = {papers/szepes.icann96-fbc.ps.pdf}, timestamp = {2020-03-17T03:03:01.000+0100}, title = {Inverse Dynamics Controllers for Robust Control: Consequences for Neurocontrollers}, year = 1996 }