Title :
Mobile robot control using fuzzy-Gaussian neural networks
Author :
Watanabe, K. ; Tang, J. ; Nakamura, M. ; Koga, S. ; Fukuda, T.
Author_Institution :
Dept. of Mech. Eng., Saga Univ., Japan
Abstract :
A tracking problem for controlling the speed and azimuth of a mobile robot driven by two independent wheels is solved by using a fuzzy Gaussian neural network (FGNN) controller. The computed torque control law is first derived to obtain some relationships between the driving torque and the plant output information. To simplify the FGNN controller for the two-input two-output controlled system, a learning controller consisting of two FGNNs based on independent reasoning and a connection net with fixed weights is proposed. The effectiveness of the method is illustrated by performing the simulation of a circular trajectory tracking control
Keywords :
mobile robots; azimuth control; circular trajectory tracking control; computed torque control law; connection net; fixed weights; fuzzy-Gaussian neural networks; independent reasoning; independent wheels; learning controller; mobile robot control; speed control; tracking problem; two-input two-output controlled system; Azimuth; Control systems; Fuzzy control; Fuzzy neural networks; Mobile robots; Neural networks; Robot control; Torque control; Trajectory; Wheels;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583253
