Title :
Neural network-based controllers for mobile robot
Author :
de Sousa Junior, C. ; Hemerly, Elder Moreira
Author_Institution :
Inst. Tecnologico de Aeronautica, Sao Jose dos Campos, Brazil
Abstract :
A neural network-based control approach for mobile robot is proposed. The weight adaptation is made online, without previous learning. Several possible situations in robot navigation are considered,including uncertainties in the model and presence of disturbance. Weight adaptation laws are presented as well as simulation results
Keywords :
adaptive control; mobile robots; navigation; neurocontrollers; online operation; stability; uncertain systems; mobile robot; neural network-based control; online weight adaptation; robot navigation; Adaptive control; Friction; Kinematics; Mobile robots; Neural networks; Robot control; Symmetric matrices; Uncertainty; Vehicle dynamics; Wheels;
Conference_Titel :
Neural Networks, 2000. Proceedings. Sixth Brazilian Symposium on
Conference_Location :
Rio de Janeiro, RJ
Print_ISBN :
0-7695-0856-1
DOI :
10.1109/SBRN.2000.889712
