Please use this identifier to cite or link to this item:
https://www.um.edu.mt/library/oar/handle/123456789/29149
Title: | Neuro-adaptive dynamic control for mobile robots : experimental validation |
Authors: | Bugeja, Marvin K. Fabri, Simon G. |
Keywords: | Mobile robots Adaptive control systems Neural networks (Computer science) |
Issue Date: | 2008 |
Publisher: | Institute of Electrical and Electronics Engineers |
Citation: | Bugeja, M. K., & Fabri, S. G. (2008). Neuro-adaptive dynamic control for mobile robots: experimental validation. 3rd International Symposium on Communications, Control and Signal Processing, St. Julian’s. 1246-1251. |
Abstract: | This paper reports on the design and implementation of a neuro-adaptive controlled nonholonomic mobile robot. It presents experimental results to validate the employed control scheme on a physical setup for the first time, after it was originally proposed by the same authors and tested by simulations only. The control system is composed of a trajectory tracking kinematic controller which generates the reference wheel velocities, and a cascaded dynamic controller which employs a neural network for the real-time estimation of the robot’s nonlinear dynamics so as to attain precise velocity tracking, even in the presence of unknown and/or time-varying dynamics. Details about the hardware and software setup, as well as salient implementation issues are also reported in this work. |
URI: | https://www.um.edu.mt/library/oar//handle/123456789/29149 |
Appears in Collections: | Scholarly Works - FacEngSCE |
Files in This Item:
File | Description | Size | Format | |
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Neuro-adaptive_dynamic_control_for_mobile_robots_experimental_validation.pdf Restricted Access | 1.38 MB | Adobe PDF | View/Open Request a copy |
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