Neural Petri control: an application on a mobile robot

Author

Raimondi, Francesco M. ; Raimondi, Tommaso ; Barretta, Pietro

Author_Institution

Dipt. di Ingegneria dell´´ Automazione e dei Sistemi, Univ. degli studi di Palermo

Volume

1

fYear

2005

fDate

19-22 Sept. 2005

Lastpage

158

Abstract

In the present work, an innovative nonlinear controller of nonholonomic mechanical systems, characterized by a dynamic not well known model a priori, using a new neural model obtained by the combination of a Petri net with a neural network is proposed. The performances of the control algorithm are evaluated for tasks of tracking of time trajectories. The study of the stability of the total system to closed loop is based on the Lyapunov theory. Simulation experiments, made taking into consideration a nonholonomic mobile robot to two wheels, allowed to verify the theoretical results

Keywords

Lyapunov methods; Petri nets; closed loop systems; controllers; mobile robots; neural nets; nonlinear control systems; Lyapunov theory; closed loop system; mobile robot; neural Petri control; nonholonomic mechanical systems; nonlinear controller; time trajectory tracking; Biological neural networks; Biological system modeling; Brain modeling; Control systems; Mechanical systems; Mobile robots; Neural networks; Nonlinear control systems; Robot kinematics; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 2005. ETFA 2005. 10th IEEE Conference on

Conference_Location

Catania

Print_ISBN

0-7803-9401-1

Type

conf

DOI

10.1109/ETFA.2005.1612514

Filename

1612514