• DocumentCode
    702481
  • Title

    Mobile robot modeling using local model networks

  • Author

    Skoundrianos, E.N. ; Tzafestas, S.G.

  • Author_Institution
    Intelligent Robotics and Automation Laboratory, Division of Signals, Control and Robotics School of Electrical and Computer Engineering, National Technical University of Athens Zographou 15773, Athens, Greece
  • fYear
    2003
  • fDate
    1-4 Sept. 2003
  • Firstpage
    3216
  • Lastpage
    3224
  • Abstract
    This article deals with the modeling issue of plants with unknown description. The modeling approach is based on the Local Model Network structure. Local Models perform local linearization and their structure is quite similar to the Takagi-Sugeno fuzzy models. Local Neural Models (LNM) function as linear filters, giving a satisfying estimation for the plant´s output within parts of the operating regime. Their training is performed off-line, which ensures a reliable method. The method is applied on the RobuterTM mobile robot.
  • Keywords
    Analytical models; Computational modeling; Mathematical model; Mobile robots; Training; Wheels; Local Model Networks; mobile robot; modeling;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    European Control Conference (ECC), 2003
  • Conference_Location
    Cambridge, UK
  • Print_ISBN
    978-3-9524173-7-9
  • Type

    conf

  • Filename
    7086535
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=702481