Robust Practical Point Stabilization of a Nonholonomic Mobile Robot Using Neural Networks

Authors:
Rafael Fierro;Frank L. Lewis
Affiliations:
Automation and Robotics Research Institute, The University of Texas at Arlington, 7300 Jack Newell Blvd. South, Fort Worth, Texas 76118-7115, U.S.A.;Automation and Robotics Research Institute, The University of Texas at Arlington, 7300 Jack Newell Blvd. South, Fort Worth, Texas 76118-7115, U.S.A.
Venue:
Journal of Intelligent and Robotic Systems
Year:
1997

Citing 6
Cited 4

Multilayer feedforward networks are universal approximators

Neural Networks
Adaptive control using neural networks

Neural networks for control
A Mathematical Introduction to Robotic Manipulation

A Mathematical Introduction to Robotic Manipulation
Control of Robot Manipulators

Control of Robot Manipulators
Neural Network Control of Robot Manipulators

IEEE Expert: Intelligent Systems and Their Applications
Multilayer neural-net robot controller with guaranteed tracking performance

IEEE Transactions on Neural Networks

On-line parameter estimation in sliding-mode control of Pioneer 3-DX wheeled mobile robot

ISTASC'07 Proceedings of the 7th Conference on 7th WSEAS International Conference on Systems Theory and Scientific Computation - Volume 7
Control of a differentially driven mobile robot using radial basis function based neural networks

WSEAS Transactions on Systems and Control
Mobile robot heading adjustment using radial basis function neural networks controller and reinforcement learning

CONTROL'08 Proceedings of the 4th WSEAS/IASME international conference on Dynamical systems and control
Dual adaptive dynamic control of mobile robots using neural networks

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on human computing

Quantified Score

Hi-index	0.00

Visualization

Abstract

A control structure that makes possible the integration of a kinematiccontroller and a neural network (NN) computed-torque controller fornonholonomic mobile robots is presented. A combined kinematic/torque controllaw is developed and stability is guaranteed by Lyapunov theory. Thiscontrol algorithm is applied to the practical point stabilization problemi.e., stabilization to a small neighborhood of the origin. The NN controllercan deal with unmodeled bounded disturbances and/or unstructured unmodeleddynamics in the vehicle. On-line NN weight tuning algorithms that do notrequire off-line learning yet guarantee small tracking errors and boundedcontrol signals are utilized.