Control of a nonholonomic mobile robot using neural networks
- 1 July 1998
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Neural Networks
- Vol. 9 (4), 589-600
- https://doi.org/10.1109/72.701173
Abstract
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 unmodeled bounded disturbances and/or unstructured unmodeled dynamics in the vehicle. On-line NN weight tuning algorithms do no require off-line learning yet guarantee small tracking errors and bounded control signals are utilized.Keywords
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