Dynamic tracking control of mobile robots using an improved radial basis function neural network

Authors:
Shirong Liu;Qijiang Yu;Jinshou Yu
Affiliations:
College of Automation, Hangzhou Dianzi University, Hangzhou, Zhejiang, China;College of Automation, Hangzhou Dianzi University, Hangzhou, Zhejiang, China;Research Institute of Automation, East China University of Science and Technology, Shanghai, China
Venue:
ISNN'06 Proceedings of the Third international conference on Advnaces in Neural Networks - Volume Part II
Year:
2006

Citing 4
Cited 0

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A resource-allocating network for function interpolation

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Control of a nonholonomic mobile robot using neural networks

IEEE Transactions on Neural Networks

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Abstract

A novel dynamic control scheme for nonholonomic mobile robots is developed in this paper. The dynamics of mobile robot based on improved radial basis function neural network (IRBFNN) is modeled online by the improved algorithm of resource allocating network (IRAN). The control scheme of mobile robot integrates a velocity controller based on backstepping technology and a torque controller based on the IRBFNN and robust compen-sator. The simulations have shown that the control system is competent for the robust tracking control of mobile robot.