Name
Abstract | ||
|---|---|---|
In this paper, a kinematic controller based on input-output linearization plus neural network (NN) controller is presented for tracking control of a mobile robot with kinematic uncertainty. The NN controller, whose parameters are tuned on-line, can deal with the uncertainty imposed on the kinematics model of mobile robots. The stability of the proposed approach is guaranteed by the Lyapunov theory. Simulation results show the efficiency of the proposed approach. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1007/11893295_79 | ICONIP (3) |
Keywords | Field | DocType |
nn controller,kinematic controller,neural network,mobile robot,input-output linearization,lyapunov theory,simulation result,kinematics model,kinematic uncertainty,input output | Lyapunov function,Kinematic controller,Control theory,Kinematics,Computer science,Control theory,Input/output,Artificial neural network,Linearization,Mobile robot | Conference |
Volume | ISSN | ISBN |
4234 | 0302-9743 | 3-540-46484-0 |
Citations | PageRank | References |
1 | 0.39 | 8 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| An-Min Zou | 1 | 462 | 26.37 |
| Zeng-Guang Hou | 2 | 2293 | 167.18 |
| Min Tan | 3 | 2342 | 201.12 |
| Xi-Jun Chen | 4 | 13 | 3.91 |
| Yun-Chu Zhang | 5 | 28 | 4.41 |