Neurocontroller Via Adaptive Learning Rates for Stable Path Tracking of Mobile Robots

2006 ◽  
pp. 408-417
Author(s):  
Sung Jin Yoo ◽  
Jin Bae Park ◽  
Yoon Ho Choi
Keyword(s):  
Mobile Robots ◽  
Adaptive Learning ◽  
Path Tracking ◽  
Learning Rates ◽  
Stable Path

scholarly journals Anti‐sideslip path tracking of wheeled mobile robots based on fuzzy model predictive control

2020 ◽  
Vol 56 (10) ◽  
pp. 490-493
Author(s):  
Guoxing Bai ◽  
Yu Meng ◽  
Li Liu ◽  
Weidong Luo ◽  
Qing Gu ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Mobile Robots ◽  
Predictive Control ◽  
Fuzzy Model ◽  
Path Tracking ◽  
Wheeled Mobile Robots

Adaptive and Predictive Path Tracking Control for Off-road Mobile Robots

2007 ◽  
Vol 13 (4) ◽  
pp. 419-439 ◽  
Author(s):  
Roland Lenain ◽  
Benoit Thuilot ◽  
Christophe Cariou ◽  
Philippe Martinet
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Path Tracking

AN ULTRASONIC MOTOR SPEED CONTROL SCHEME BASED ON NEURAL NETWORKS AND ITERATIVE CONTROLLER

2004 ◽  
Vol 01 (03) ◽  
pp. 457-470
Author(s):  
X. H. SHI ◽  
Y. C. LIANG ◽  
X. XU
Keyword(s):  
Neural Networks ◽  
Adaptive Learning ◽  
Speed Control ◽  
Ultrasonic Motor ◽  
Random Disturbance ◽  
Motor Speed ◽  
Neural Network Controller ◽  
Learning Rates ◽  
Network Controller ◽  
Control Scheme

An ultrasonic motor speed control scheme is presented in this paper based on neural networks and iterative controller. Suitable ranges of the adaptive learning rates of neural network controller are presented through the theoretical analysis on the proposed model, which could guarantee its stability. The convergence of iterative controller is also discussed. Numerical results show that the control scheme is effective for various kinds of reference speeds of ultrasonic motors. Comparisons with the existing method show that the precision of control could be increased using the proposed method. Simulations also show that the proposed scheme is fairly robust against random disturbance to the control variables.

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