Control of A Nonholonomic Mobile Robot Using Neural Networks  

Oleh:

Fierro, R. ; Lewis, F. L.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: IEEE Transactions on Neural Networks vol. 9 no. 4 (1998), page 589-600.
Topik: ROBOTS; control; non holonomic; mobile robot; neural networks

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: II36.3 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

Lihat Detail Induk

Isi artikel

A control structure that makes possible the integration of a kinematic controller and a neural network (NN) computed - torque controller for non holonomic mobile robots is presented. A combined kinematic / torque control law is developed using backstepping and stability is guaranteed by Lyapunov theory. This control algorithm can be applied to the three basic non holonomic navigation problems : tracking a reference trajectory, path following, and stabilization about a desired posture. Moreover, the NN controller proposed in this work can deal with unmodeled bounded disturbances and / or unstructured unmodeled dynamics in the vehicle. Online NN weight tuning algorithms do not require off - line learning yet guarantee small tracking errors and bounded control signals are utilized.

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