Adaptive Neuro-fuzzy Network Control for a Mobile Robot
| Autor: | Jun Oh Jang |
|---|---|
| Rok vydání: | 2010 |
| Předmět: |
Lyapunov function
Lyapunov stability Engineering Neuro-fuzzy business.industry Mechanical Engineering Control engineering Mobile robot Kinematics Industrial and Manufacturing Engineering Computer Science::Robotics symbols.namesake Computer Science::Systems and Control Artificial Intelligence Control and Systems Engineering Control theory Bounded function Backstepping symbols Electrical and Electronic Engineering business Software |
| Zdroj: | Journal of Intelligent & Robotic Systems. 62:567-586 |
| ISSN: | 1573-0409 0921-0296 |
| DOI: | 10.1007/s10846-010-9453-4 |
| Popis: | A control structure that makes possible the integration of a kinematic controller and a neuro-fuzzy network (NFN) dynamic controller for mobile robots is presented. A combined kinematic/dynamic control law is developed using backstepping and stability is guaranteed by Lyapunov theory. The NFN controller proposed in this work can deal with unmodeled bounded disturbances and/or unstructured unmodeled dynamic in the mobile robot. On-line NFN parameter tuning algorithms do no require off-line learning yet guarantee small tracking errors and bounded control signals are utilized. |
| Databáze: | OpenAIRE |
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