Title :
Practical point stabilization of a nonholonomic mobile robot using neural networks
Author :
Fierro, R. ; Lewis, F.L.
Author_Institution :
Autom. & Robotics Res. Inst., Texas Univ., Arlington, TX, USA
Abstract :
A control structure that makes possible the integration of a kinematic controller and a neural network (NN) computed-torque controller for nonholonomic mobile robots is presented. This control algorithm is applied to the practical point stabilization problem i.e. stabilization to a small neighborhood of the origin. The NN controller proposed in this work can deal with unmodelled bounded disturbances and/or unstructured unmodelled dynamics in the vehicle. Online NN weight tuning algorithms that do not require off-line learning yet guarantee small tracking errors and bounded control signals are utilized
Keywords :
Lyapunov methods; feedback; feedforward neural nets; mobile robots; motion control; neurocontrollers; nonlinear control systems; robot dynamics; robot kinematics; stability; control structure; kinematic controller; neural network computed-torque controller; nonholonomic mobile robot; online weight tuning algorithms; point stabilization; unmodelled bounded disturbances; unstructured unmodelled dynamics; Automatic control; Control systems; Kinematics; Mobile robots; Neural networks; Robotics and automation; Symmetric matrices; Uncertainty; Vehicle dynamics; Vehicles;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.572806