Resolved velocity controller with an online RBF-NN compensator for controlling a dynamic binocular active vision head
Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, Keisuke Izumi · 2002
We present an active binocular tracking scheme, which addresses both the kinematic and dynamic aspects. External reference signals to a servo controller are computed online by the use of a suitable linear kinematics model of the system. The servo controller bestowed with an online RBF-NN compensator is capable of handling the tracking problem with a minimum knowledge of the dynamics of the system.