A Study on Wavelet Neural Network Based Generalized Predictive Control for Path Tracking of Mobile Robots
نویسندگان
چکیده
منابع مشابه
Path Tracking Control Using a Wavelet Based Fuzzy Neural Network for Mobile Robots
Motion control of mobile robots is a typical nonlinear tracking control issue and has been discussed with different control schemes such as PID, GPC, sliding mode, predictive control etc[1]-[3]. Intelligent control techniques, based on neural networks and fuzzy logic, have also been developed for path tracking control of mobile robots[4][5]. While conventional neural networks have good ability ...
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Abstract: In this paper, we propose a wavelet based fuzzy neural network (WFNN) based direct adaptive control scheme for the solution of the tracking problem of mobile robots. To design a controller, we present a WFNN structure that merges the advantages of the neural network, fuzzy model and wavelet transform. The basic idea of our WFNN structure is to realize the process of fuzzy reasoning of...
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This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...
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The main objectives of this work are the development of simulation models and the synthesis of controllers for path following, in the scope of mobile robotics. The mathematical model of the mobile robot is nonlinear and subject to a set of constraints at the inputs of the system, as well as in its states. Therefore, hybrid control techniques integrated in a model predictive control strategy are...
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An adaptive robust tracking controller is proposed for robot systems under plant uncertainties and external disturbances. Nonlinear robust control theory and neural network design are combined to construct a hybrid adaptive-robust tracking control scheme which ensures that the joint positions track the desired reference signals. Neural network is used to identify the uncertainties, and the effe...
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ژورنال
عنوان ژورنال: Journal of Korean Institute of Intelligent Systems
سال: 2005
ISSN: 1976-9172
DOI: 10.5391/jkiis.2005.15.4.457