Robot Dynamics and Control
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Fuzzy Sets and Systems - Special issue: Approximate Reasoning in Words
Evolution of fuzzy behaviors for multi-robotic system
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Path-following control of mobile robots in presence of uncertainties
IEEE Transactions on Robotics
Robust adaptive control of nonholonomic mobile robot with parameter and nonparameter uncertainties
IEEE Transactions on Robotics
Brief A hybrid control approach to action coordination for mobile robots
Automatica (Journal of IFAC)
Control of a nonholonomic mobile robot using neural networks
IEEE Transactions on Neural Networks
The study of a vision-based pedestrian interception system
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Analysis of strategy in robot soccer game
Neurocomputing
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This paper proposes the modelling and simulation of an artificial neural network based computed torque controller for the trajectory planning of a robot in a multi-agent robot soccer system. The controller is designed for the tracking of the soccer robot along a dynamic Bezier path. Dynamics of the robot is formulated directly in terms of the motor torque which is more realistic than the conventional methods that are based on heading velocities. The primary feedback loop of the proposed scheme includes a kinematic controller, which generates an appropriate heading velocity command. A dynamic controller included in the inner feedforward path generates a control torque for minimizing the tracking velocity error. Another artificial neural network controller, included in a separate feedforward path, compensates for the deficiencies in the control torque due to the unknown robot dynamics. The on-line learning rules are formulated by ensuring the stability of the entire system using the Lyapunov criterion.