Dual Adaptive Dynamic Control of Mobile Robots Using Neural Networks

  title={Dual Adaptive Dynamic Control of Mobile Robots Using Neural Networks},
  author={Marvin K. Bugeja and Simon G. Fabri and Liberato Camilleri},
  journal={IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)},
This paper proposes two novel dual adaptive neural control schemes for the dynamic control of nonholonomic mobile robots. The two schemes are developed in discrete time, and the robot's nonlinear dynamic functions are assumed to be unknown. Gaussian radial basis function and sigmoidal multilayer perceptron neural networks are used for function approximation. In each scheme, the unknown network parameters are estimated stochastically in real time, and no preliminary offline neural network… CONTINUE READING
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