Tracking control of a mobile robot with kinematic uncertainty using neural networks

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
发表期刊	NEURAL INFORMATION PROCESSING, PT 3, PROCEEDINGS
	2006
卷号	4234 页码:721-730
文章类型	Article
摘要	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.
WOS标题词	Science & Technology ; Technology
收录类别	ISTP ; SCI
语种	英语
WOS研究方向	Computer Science
WOS类目	Computer Science, Artificial Intelligence ; Computer Science, Hardware & Architecture ; Computer Science, Interdisciplinary Applications ; Computer Science, Theory & Methods
WOS记录号	WOS:000241759000079
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/9370
专题	09年以前成果
作者单位	1.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
推荐引用方式 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.