Tracking control of a mobile robot with kinematic uncertainty using neural networks

Authors:
An-Min Zou;Zeng-Guang Hou;Min Tan;Xi-Jun Chen;Yun-Chu Zhang
Affiliations:
Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, Beijing, China;Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, Beijing, China;Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, Beijing, China;Beijing, China;Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, Beijing, China and School of Information and Electric Engineering, Shandong Univer ...
Venue:
ICONIP'06 Proceedings of the 13th international conference on Neural information processing - Volume Part III
Year:
2006

Citing 6
Cited 1

Adaptive control: stability, convergence, and robustness

Adaptive control: stability, convergence, and robustness
Multilayer feedforward networks are universal approximators

Neural Networks
Stability analysis of mobile robot path tracking

IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Tracking control of a nonholonomic mobile robot using a fuzzy-based approach

FSKD'06 Proceedings of the Third international conference on Fuzzy Systems and Knowledge Discovery
Multilayer neural-net robot controller with guaranteed tracking performance

IEEE Transactions on Neural Networks
Control of a nonholonomic mobile robot using neural networks

IEEE Transactions on Neural Networks

Quaternion-based adaptive output feedback attitude control of spacecraft using Chebyshev neural networks

IEEE Transactions on Neural Networks

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, a kinematic controller based on input-output linearization plus neural network (NN) controller is presented for tracking control of a mobile robot with kinematic uncertainty. The NN controller, whose parameters are tuned on-line, can deal with the uncertainty imposed on the kinematics model of mobile robots. The stability of the proposed approach is guaranteed by the Lyapunov theory. Simulation results show the efficiency of the proposed approach.