{"id":37268,"date":"1998-01-01T00:00:00","date_gmt":"1998-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/contribucion-al-guiado-de-un-robot-movil-utilizando-control-neuronal-adaptativo\/"},"modified":"1998-01-01T00:00:00","modified_gmt":"1998-01-01T00:00:00","slug":"contribucion-al-guiado-de-un-robot-movil-utilizando-control-neuronal-adaptativo","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/contribucion-al-guiado-de-un-robot-movil-utilizando-control-neuronal-adaptativo\/","title":{"rendered":"Contribucion al guiado de un robot movil utilizando control neuronal adaptativo."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Luciano Boquete Vazquez <\/strong><\/h2>\n<p>En esta tesis se utilizan t\u00e9cnicas neuronales para el control de los movimientos de un robot m\u00f3vil. Los principales problemas que se han resuelto son:  -desarrollo de nuevas arquitecturas recurrentes.  -obtenci\u00f3n de las expresiones matem\u00e1ticas que permiten el ajuste de dichos modelos.  -c\u00e1lculo de las condiciones de estabilidad.  -implementaci\u00f3n de las arquitecturas de control apropiadas.  -implementaci\u00f3n pr\u00e1ctica para el gobierno de un robot m\u00f3vil (silla de ruedas para minusv\u00e1lidos).  entre las diferentes arquitecturas neuronales existentes, se han utilizado las redes de base radial (rbf); que se caracterizan por su velocidad de convergencia (los pesos o conexiones sin\u00e1pticas dependen linealmente del error) y ser aproximadores universales de funciones.  se presentan varios modelos nuevos de redes neuronales recurrentes (necesarias para la identificaci\u00f3n de sistemas con memoria) as\u00ed como las condiciones que deben cumplirse para asegurar la estabilidad en el proceso de entrenamiento, cuando \u00e9ste se realiza por un algoritmo de descenso por el gradiente. El entrenamiento de las redes neuronales se realiza \u00abon-line\u00bb, con el fin de poder adaptarse en tiempo real a nuevas condiciones de funcionamiento. Estos modelos se utilizan para la implementaci\u00f3n de una arquitectura de control orientada al modelo, que sirve de base para la realizaci\u00f3n de diferentes simulaciones.  los resultados de los experimentos demuestran la posibilidad pr\u00e1ctica de la utilizaci\u00f3n de redes neuronales para la identificaci\u00f3n y control de un sistema f\u00edsico real.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Contribucion al guiado de un robot movil utilizando control neuronal adaptativo.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Contribucion al guiado de un robot movil utilizando control neuronal adaptativo. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Luciano Boquete Vazquez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Alcal\u00e1<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1998<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Ricardo Garcia Lopez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Dar\u00edo Maravall G\u00f3mez-allende <\/li>\n<li>\u00e1ngela Ribeiro Seijas (vocal)<\/li>\n<li>Joaquin Luque Rodriguez (vocal)<\/li>\n<li> Ruiz Gonzalez Jos\u00e9 Miguel (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Luciano Boquete Vazquez En esta tesis se utilizan t\u00e9cnicas neuronales para el control de los movimientos de [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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