By Topic

Stable Nonlinear Position Control Law for Mobile Robot Using Genetic Algorithm and Neural Network

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)

In this paper we proposed a new stable control algorithm for mobile robot trajectory tracking. The stability conditions are guaranteed by Lyapunov theory. The control parameters of backstepping algorithm are adjusted using genetic algorithm. Some of them are represented by unknown functions which are generated by neural network. The performance of the proposed controller is investigated using a kinematic model of a nonholonomic mobile robot. The efficient position tracking performance was obtained but the velocities were very high at the start of the motion. In order to avoid this, we proposed the extension of backstepping position controller by adding a new control law, which provided lower velocity servo inputs. Simulation results show the good quality of both velocity and position tracking capabilities of a mobile robot.

Published in:

2006 World Automation Congress

Date of Conference:

24-26 July 2006