NEURO-ADAPTIVE DYNAMIC CONTROL FOR TRAJECTORY TRACKING OF MOBILE ROBOTS

Marvin K. Bugeja, Simon G. Fabri

2006

Abstract

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 Gaussian radial basis function neural network for the estimation of the robot’s nonlinear dynamic functions, which are assumed to be completely unknown. Optimal on-line weight tuning is achieved by employing the Kalman filter algorithm, based on a specifically formulated stochastic inverse dynamic identification model of the mobile base. A discrete-time dynamic control law employing the estimated functions is proposed and cascaded with a trajectory tracking kinematic controller. The performance of the complete system is analysed and compared by realistic simulations.

Paper Citation

in Harvard Style

Bugeja M. and Fabri S. (2006). NEURO-ADAPTIVE DYNAMIC CONTROL FOR TRAJECTORY TRACKING OF MOBILE ROBOTS . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 404-411. DOI: 10.5220/0001218904040411

in Bibtex Style

@conference{icinco06,
author={Marvin K. Bugeja and Simon G. Fabri},
title={NEURO-ADAPTIVE DYNAMIC CONTROL FOR TRAJECTORY TRACKING OF MOBILE ROBOTS},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={404-411},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001218904040411},
isbn={978-972-8865-60-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - NEURO-ADAPTIVE DYNAMIC CONTROL FOR TRAJECTORY TRACKING OF MOBILE ROBOTS
SN - 978-972-8865-60-3
AU - Bugeja M.
AU - Fabri S.
PY - 2006
SP - 404
EP - 411
DO - 10.5220/0001218904040411