Multilayer Perceptron Adaptive Dynamic Control for Trajectory Tracking of Mobile Robots

@article{Bugeja2006MultilayerPA,
  title={Multilayer Perceptron Adaptive Dynamic Control for Trajectory Tracking of Mobile Robots},
  author={M. K. Bugeja and S. Fabri},
  journal={IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics},
  year={2006},
  pages={3798-3803}
}
This paper presents a novel functional-adaptive dynamic controller for trajectory tracking of nonholonomic wheeled mobile robots. The controller is developed in discrete-time and employs a multilayer perceptron neural network for the estimation of the robot's nonlinear dynamic functions, which are assumed to be completely unknown. On-line weight tuning is achieved by employing the extended Kalman filter algorithm, based on a specifically formulated stochastic inverse dynamic identification… CONTINUE READING
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