شماره ركورد كنفرانس :
1730
عنوان مقاله :
Feedback Error Learning Control of Trajectory Tracking of Nonholonomic Mobile Robot
عنوان به زبان ديگر :
Feedback Error Learning Control of Trajectory Tracking of Nonholonomic Mobile Robot
پديدآورندگان :
Adib Yaghmaie Farnaz نويسنده , Bakhshande Fateme نويسنده , D.Taghirad Hamid نويسنده
كليدواژه :
Robots , Boolean functions , data structures , Adaptive control , Adaptation models , Trajectory control , Variable structure systems , Artificial neural networks
عنوان كنفرانس :
بيستمين كنفرانس مهندسي برق ايران
چكيده لاتين :
In this paper a new controller for nonholonomic system is introduced. This feedback error learning controller benefits from both nonlinear and adaptive controller properties.The nonlinear controller is used to stabilize the nonholonomic behavior of the systems. This controller is a sliding modecontroller which is designed based on backstepping method. The adaptive controller tries to face with uncertainty and unknown dynamic of the mobile robot. This part uses neural networkcontroller for adaptation. The experimental results show the effectiveness of proposed controller and suitable and robusttracking performance of a mobile robot, which is significantly better than traditional controllers
شماره مدرك كنفرانس :
4460809
