Intelligent Control for Nonholonomic Mobile Robot Including Actuator Dynamics

2018 ◽  
Author(s):  
Yasmine Koubaa ◽  
Mohamed Boukattaya ◽  
Tarak Damak
Keyword(s):  
Mobile Robot ◽  
Intelligent Control ◽  
Actuator Dynamics ◽  
Nonholonomic Mobile Robot

Artificial Higher Order Neural Networks for Modeling MIMO Discrete-Time Nonlinear System

2013 ◽  
pp. 30-43
Author(s):  
Michel Lopez-Franco ◽  
Alma Y. Alanis ◽  
Nancy Arana-Daniel ◽  
Carlos Lopez-Franco
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Discrete Time ◽  
Higher Order ◽  
Robot Kinematics ◽  
Robot Dynamics ◽  
Plant Model ◽  
Actuator Dynamics ◽  
Nonholonomic Mobile Robot ◽  
Higher Order Neural Networks

In this chapter, a Recurrent Higher Order Neural Network (RHONN) is used to identify the plant model of discrete time nonlinear systems, under the assumption that all the state is available for measurement. Then the Extended Kalman Filter (EKF) is used to train the RHONN. The applicability of this scheme is illustrated by identification for an electrically driven nonholonomic mobile robot. Traditionally, modeling of mobile robots only considers its kinematics. It has been well known that the actuator dynamics is an important part of the design of the complete robot dynamics. However, most of the reported results in literature do not consider all parametric uncertainties for mobile robots at the actuator level. This is due to the modeling problem becoming extremely difficult as the complexity of the system dynamics increases, and the mobile robot model includes the uncertainties of the actuator dynamics as well as the uncertainties of the robot kinematics and dynamics.

Neural Torque Controllers For Trajectory Tracking Problem Of A Nonholonomic Mobile Robot

2007 ◽  
Vol 5 (2) ◽  
pp. 121-136
Author(s):  
N. Martins ◽  
D. Bertol ◽  
W. Lombardi ◽  
E. R. Pieri ◽  
E. Castelan
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Problem ◽  
Nonholonomic Mobile Robot

Soft computing algorithms for intelligent control of a mobile robot for service use

1997 ◽  
Vol 1 (2) ◽  
pp. 99-106 ◽  
Author(s):  
T. Tanaka ◽  
J. Ohwi ◽  
L. V. Litvintseva ◽  
K. Yamafuji ◽  
S. V. Ulyanov
Keyword(s):  
Mobile Robot ◽  
Soft Computing ◽  
Intelligent Control ◽  
Service Use
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