Control of a nonholonomic mobile robot using neural networks
IEEE Transactions on Neural Networks
A hybrid intelligent system for generic decision for PID controllers design in open-loop
HAIS'11 Proceedings of the 6th international conference on Hybrid artificial intelligent systems - Volume Part II
HAIS'12 Proceedings of the 7th international conference on Hybrid Artificial Intelligent Systems - Volume Part I
A target-reaching controller for mobile robots using spiking neural networks
ICONIP'12 Proceedings of the 19th international conference on Neural Information Processing - Volume Part IV
Tracking control of a nonholonomic mobile robot using compound cosine function neural networks
Intelligent Service Robotics
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An adaptive controller of nonlinear PID-based analog neural networks is developed for the velocity- and orientation-tracking control of a nonholonomic mobile robot. A superb mixture of a conventional PID controller and a neural network, which has powerful capability of continuously online learning, adaptation and tackling nonlinearity, brings us the novel nonlinear PID-based analog neural network controller. It is appropriate for a kind of plant with nonlinearity uncertainties and disturbances. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity- and orientation-tracking control of the nonholonomic mobile robot. The effectiveness of the proposed control algorithm is demonstrated through the simulation experiment, which shows its superior performance and disturbance rejection.