Applying posture identifier in designing an adaptive nonlinear predictive controller for nonholonomic mobile robot

@article{AlAraji2013ApplyingPI,
  title={Applying posture identifier in designing an adaptive nonlinear predictive controller for nonholonomic mobile robot},
  author={Ahmed S. Al-Araji and Maysam F. Abbod and Hamed S. Al-Raweshidy},
  journal={Neurocomputing},
  year={2013},
  volume={99},
  pages={543-554}
}
This paper presents a trajectory tracking controller for a nonholonomic mobile robot using an optimization algorithm based predictive feedback control and an adaptive posture identifier model while following a continuous and a non-continuous path. The posture identifier model is a modified Elman neural network that describes the kinematics and dynamics of the mobile robot model. find the reference torques, which controls the steady-state outputs of the mobile robot system. The feedback neural… CONTINUE READING
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Adaptive control of nonlinear PID-based analogue neural network for a nonholonomic mobile robot

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