DocumentCode
2525138
Title
Control of an uncertain nonholonomic mobile manipulator based on the Diagonal Recurrent Neural Network
Author
Wang, Z.P. ; Zhou, T.
Author_Institution
Dept. of Control Sci. & Eng., Tongji Univ., Shanghai, China
fYear
2011
fDate
23-25 May 2011
Firstpage
4044
Lastpage
4047
Abstract
In this paper, control of a nonholonomic mobile manipulators with unknown dynamics is considered using Diagonal Recurrent Neural Network. The system is subject to nonholonomic constraint. The adaptive recurrent neural network controller is presented to deal with the unmodelled dynamics in the system. The proposed control strategy guarantees that the system motion asymptotically converges to the desired manifold.
Keywords
adaptive control; manipulators; mobile robots; neurocontrollers; recurrent neural nets; adaptive recurrent neural network controller; diagonal recurrent neural network; uncertain nonholonomic mobile manipulator control; unknown dynamics; Adaptive systems; Dynamics; Manipulator dynamics; Mobile communication; Recurrent neural networks; Adaptive control; Diagonal recurrent neural network; Mobile manipulator; Nonholonomic system;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference (CCDC), 2011 Chinese
Conference_Location
Mianyang
Print_ISBN
978-1-4244-8737-0
Type
conf
DOI
10.1109/CCDC.2011.5968931
Filename
5968931
Link To Document