Adaptive control for mobile robot using wavelet networks

Author

De Sousa, Celso, Jr. ; Hemerly, Elder Moreira ; Galvão, Roberto Kawakami Harrop

Author_Institution

Dept. of Syst. & Control, Instituto Tecnologico de Aeronautica, Sao Jose Dos Campos, Brazil

Volume

32

Issue

4

fYear

2002

fDate

8/1/2002 12:00:00 AM

Firstpage

493

Lastpage

504

Abstract

This work improves recent results concerning the adaptive control of mobile robots via neural and wavelet networks, in the sense that the stability proof, based on the second method of Lyapunov, encompasses (1) unmodeled dynamics and disturbances in the robot model; (2) adaptation of all parameters in the wavelet networks; and (3) a flexible procedure for automatically adjusting the wavelet architecture. Prior knowledge of dynamic of the mobile robot and network training is not necessary because the controller learns the dynamics online. The wavelet network´s parameters and structure are also adapted online. Simulation results are presented by using parameters of the Magellan mobile robot from IS Robotics, Inc

Keywords

Lyapunov methods; adaptive control; control system analysis; mobile robots; neurocontrollers; online operation; robot dynamics; simulation; stability; wavelet transforms; Lyapunov stability; Magellan robot; adaptive control; automatic wavelet architecture adjustment; controller; disturbances; feedback control; flexible procedure; mobile robots; network topologies; network training; nonlinear systems; online learning; parameter adaptation; simulation; unmodeled dynamics; wavelet networks; Adaptive control; Aerodynamics; Automatic control; Control systems; Mobile robots; Nonlinear control systems; Nonlinear systems; Robot kinematics; Robotics and automation; Wheels;

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

1083-4419

Type

jour

DOI

10.1109/TSMCB.2002.1018768

Filename

1018768