CASIA OpenIR  > 09年以前成果
Tracking control of a mobile robot with kinematic uncertainty using neural networks
Zou, An-Min; Hou, Zeng-Guang; Tan, Min; Chen, Xi-Jun; Zhang, Yun-Chu; King, I; Wang, J; Chan, L; Wang, DL
Source PublicationNEURAL INFORMATION PROCESSING, PT 3, PROCEEDINGS
2006
Volume4234Pages:721-730
SubtypeArticle
AbstractIn 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.
WOS HeadingsScience & Technology ; Technology
Indexed ByISTP ; SCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Hardware & Architecture ; Computer Science, Interdisciplinary Applications ; Computer Science, Theory & Methods
WOS IDWOS:000241759000079
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9370
Collection09年以前成果
Affiliation1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
2.Shandong Architecture & Engn, Sch Informat & Elect Engn, Jinan 250101, Peoples R China
Recommended Citation
GB/T 7714
Zou, An-Min,Hou, Zeng-Guang,Tan, Min,et al. Tracking control of a mobile robot with kinematic uncertainty using neural networks[J]. NEURAL INFORMATION PROCESSING, PT 3, PROCEEDINGS,2006,4234:721-730.
APA Zou, An-Min.,Hou, Zeng-Guang.,Tan, Min.,Chen, Xi-Jun.,Zhang, Yun-Chu.,...&Wang, DL.(2006).Tracking control of a mobile robot with kinematic uncertainty using neural networks.NEURAL INFORMATION PROCESSING, PT 3, PROCEEDINGS,4234,721-730.
MLA Zou, An-Min,et al."Tracking control of a mobile robot with kinematic uncertainty using neural networks".NEURAL INFORMATION PROCESSING, PT 3, PROCEEDINGS 4234(2006):721-730.
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