Adaptive Neuro-fuzzy Network Control for a Mobile Robot

被引：0
|
作者：
Jun Oh Jang
机构：
[1] Uiduk University,Department of Computer Control Engineering
来源：
Journal of Intelligent & Robotic Systems | 2011年 / 62卷
关键词：
Mobile robot; Neuro-fuzzy networks; Lyapunov stability; Feedback control;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A control structure that makes possible the integration of a kinematic controller and a neuro-fuzzy network (NFN) dynamic controller for mobile robots is presented. A combined kinematic/dynamic control law is developed using backstepping and stability is guaranteed by Lyapunov theory. The NFN controller proposed in this work can deal with unmodeled bounded disturbances and/or unstructured unmodeled dynamic in the mobile robot. On-line NFN parameter tuning algorithms do no require off-line learning yet guarantee small tracking errors and bounded control signals are utilized.
引用
收藏
页码：567 / 586
页数：19
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