کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
410761 679162 2008 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Tracking control for nonholonomic mobile robots: Integrating the analog neural network into the backstepping technique
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Tracking control for nonholonomic mobile robots: Integrating the analog neural network into the backstepping technique
چکیده انگلیسی

This paper proposes an improved learning algorithm of analog compound orthogonal networks and a novel tracking control approach for nonholonomic mobile robots by integrating the neural network into the backstepping technique. The adaptive control is derived from continuously tuning parameters using the analog neural network in the backstepping control law. The proposed control approach for the mobile robot has the properties to quickly drive the position error to zero and to indicate better smooth movement in the tracking control process. These features are due to continuous online learning and adaptive capability of analog neural networks. Simulation results demonstrate that the proposed control approach is effective and has better control performance.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Neurocomputing - Volume 71, Issues 16–18, October 2008, Pages 3373–3378
نویسندگان
,