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Control of a nonholonomic mobile robot using neural networks

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2 Author(s)
R. Fierro ; Autom. & Robotics Res. Inst., Texas Univ., Arlington, TX, USA ; F. L. Lewis

A control structure that makes possible the integration of a kinematic controller and a neural network (NN) computed-torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and stability is guaranteed by Lyapunov theory. This control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture. Moreover, the NN controller proposed in this work can deal with unmodelled bounded disturbances and/or unstructured unmodelled dynamics in the vehicle

Published in:

Intelligent Control, 1995., Proceedings of the 1995 IEEE International Symposium on

Date of Conference:

27-29 Aug 1995