On Some Aspects Of Neural Networks Control For Autonomous Mobile Robots
- Authors
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Monica Dragoicea
University Politehnica of Bucharest, Automatic Control and Systems Engineering Department
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Ioan Dumitrache
University Politehnica of Bucharest, Automatic Control and Systems Engineering Department
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Nicolae Constantin
University Politehnica of Bucharest, Automatic Control and Systems Engineering Department
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- Abstract
- This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. the strategy includes kinematic steering and velocity dynamics learning of mobile robot system simultaneously. In the learning controller (neural network based controller) the velocity dynamics learning control takes part in tracking of the reference velocity control input plys a role in stabilizing the kinematic steering system to the desired reference model of kinematic system even without using the assumption of perfect velocity tracking.
- References
- Published
- 2001-09-30
- Issue
- Vol. 3 No. 3 (2001)
- Section
- Articles