Title :
Discrete-time neural identifier for electrically driven nonholonomic mobile robots
Author :
Alanis, Alma Y. ; Lopez-Franco, Michel ; Arana-Daniel, Nancy ; Lopez-Franco, Carlos
Author_Institution :
CUCEI, Univ. de Guadalajara, Zapopan, Mexico
fDate :
July 31 2011-Aug. 5 2011
Abstract :
A nonlinear discrete-time neural identifier for discrete-time unknown nonlinear systems, in presence of external and internal uncertainties are presented. This identifier is based on a discrete-time recurrent high order neural network (RHONN) trained with an extended Kalman filter (EKF)-based algorithm. Applicability of the scheme is illustrated via simulation for an electrically driven nonholonomic mobile robot.
Keywords :
Kalman filters; discrete time systems; electric drives; learning (artificial intelligence); mobile robots; neurocontrollers; nonlinear control systems; recurrent neural nets; uncertain systems; EKF-based algorithm; RHONN training; discrete time recurrent high order neural network; discrete time unknown nonlinear system; electrically driven nonholonomic mobile robot; extended Kalman filter; external uncertainty; internal uncertainty; nonlinear discrete time neural identifier; Biological neural networks; Kalman filters; Mathematical model; Mobile robots; Nonlinear systems; Training; Wheels; Kalman Filtering; Neural Identification; Nonholonomic mobile robot; Prediction; Recurrent Neural Networks;
Conference_Titel :
Neural Networks (IJCNN), The 2011 International Joint Conference on
Conference_Location :
San Jose, CA
Print_ISBN :
978-1-4244-9635-8
DOI :
10.1109/IJCNN.2011.6033341
