Title :
Multilayer Perceptron Adaptive Dynamic Control for Trajectory Tracking of Mobile Robots
Author :
Bugeja, Marvin K. ; Fabri, Simon G.
Author_Institution :
Dept. of Electr. Power & Control Eng., Malta Univ.
Abstract :
This paper presents a novel functional-adaptive dynamic controller for trajectory tracking of nonholonomic wheeled mobile robots. The controller is developed in discrete-time and employs a multilayer perceptron neural network for the estimation of the robot´s nonlinear dynamic functions, which are assumed to be completely unknown. On-line weight tuning is achieved by employing the extended Kalman filter algorithm, based on a specifically formulated stochastic inverse dynamic identification model of the mobile base. A discrete-time dynamic control law employing the estimated functions is proposed and cascaded with a trajectory tracking kinematic controller. The performance of the complete system is analysed and compared by realistic simulations
Keywords :
Kalman filters; adaptive control; discrete time systems; mobile robots; multilayer perceptrons; nonlinear control systems; nonlinear filters; position control; discrete-time dynamic control law; extended Kalman filter algorithm; functional-adaptive dynamic controller; multilayer perceptron adaptive dynamic control; nonholonomic wheeled mobile robots; nonlinear dynamic functions; online weight tuning; stochastic inverse dynamic identification model; trajectory tracking kinematic controller; Adaptive control; Mobile robots; Multi-layer neural network; Multilayer perceptrons; Neural networks; Nonlinear dynamical systems; Programmable control; Robot control; Stochastic processes; Trajectory;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347229