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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
2006
发表期刊NEURAL INFORMATION PROCESSING, PT 3, PROCEEDINGS
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:1[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.
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