Paper Info
Title
A neural net-based feedforward control scheme for mobile robots
Abstract
A neural-net based control algorithm for the tracking control of a two-wheeled mobile robot is considered. The neural network was designed to generate feedforward control input to nullify the error between output and desired trajectory. The neural network controller was combined with local digital PD controllers for each wheel position control. The feedback-error learning methods is used as the learning mechanism such that the learning and control can be performed simultaneously. To evaluate the effectiveness of the proposed control scheme, a series of tracking simulations were performed for the dynamic model of the mobile robot
Year
DOI
Venue
1991
10.1109/IROS.1991.174584
Osaka
Keywords
Field
DocType
learning systems,mobile robots,neural nets,feedback-error learning methods,local digital PD controllers,mobile robots,neural net-based feedforward control scheme,two-wheeled mobile robot
Feedforward neural network,Computer science,Control theory,Control engineering,Error detection and correction,Iterative learning control,Artificial neural network,Digital control,Mobile robot,Trajectory,Feed forward
Conference
Citations 
PageRank 
References 
0
0.34
4
Authors
2
Name
Order
Citations
PageRank
Kyoung Chul Koh122.94
Hyungsuck Cho221324.88