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Recently, adaptive fuzzy observers have been introduced that are capable of estimating uncertainties along with the states of a nonlinear system represented by an uncertain Takagi-Sugeno (TS) model. In this paper, we use such an adaptive observer to estimate the uncertainties in the state matrices of a two-degrees-of-freedom robot arm model. The TS model of the robot arm is constructed using the sector...
Robots controlled by Reinforcement Learning (RL) are still rare. A core challenge to the application of RL to robotic systems is to learn despite the existence of control delay - the delay between measuring a system's state and acting upon it. Control delay is always present in real systems. In this work, we present two novel temporal difference (TD) learning algorithms for problems with control delay...
Swarms are characterized by the ability to generate complex behavior from the coupling of simple individuals. While the swarm approach to distributed systems of moving agents is gradually finding a way to engineering applications, a true successful demonstration of an engineered swarm is still missing. One of the reasons for this is the gap between the complexity of the swarms studied in fundamental...
Multiagent systems are rapidly finding applications in a variety of domains, including robotics, distributed control, telecommunications, and economics. The complexity of many tasks arising in these domains makes them difficult to solve with preprogrammed agent behaviors. The agents must, instead, discover a solution on their own, using learning. A significant part of the research on multiagent learning...
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