Multilayer perceptron adaptive dynamic control for trajectory tracking of mobile robots

IECON Proceedings (Industrial Electronics Conference)

Volumn , Issue , 2006, Pages 3798-3803

  Bugeja, Marvin K ^a   Fabri, Simon G ^a  

^a UNIVERSITY OF MALTA   (Malta)

Author keywords

[No Author keywords available]

Indexed keywords

CONTINUOUS TIME SYSTEMS; CURVE FITTING; ELECTRIC LOADS; ELECTRONICS INDUSTRY; ESTIMATION; INDUSTRIAL ELECTRONICS; MOBILE ROBOTS; MULTILAYERS; ROBOTICS; ROBOTS; STOCHASTIC MODELS; TRAJECTORIES;

ADAPTIVE DYNAMIC CONTROLLER; ANNUAL CONFERENCE; COMPLETE SYSTEMS; DISCRETE-TIME; DYNAMIC CONTROLS; INVERSE DYNAMIC IDENTIFICATION; KALMAN ALTER ALGORITHM; KINEMATIC CONTROLLERS; MULTI-LAYER PERCEPTRON; MULTI-LAYER PERCEPTRON NEURAL NETWORKS; NON-HOLONOMIC; NONLINEAR DYNAMIC FUNCTIONS; REALISTIC SIMULATIONS; TRAJECTORY TRACKING; WHEELED MOBILE ROBOTS;

NEURAL NETWORKS;

EID: 36349015661     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.2006.347229     Document Type: Conference Paper

References (22)

1. I. Kolmanovsky and N. H. McClamroch, "Developments in nonholonomic control problems," IEEE Control Systems Magazine, vol. 15, no. 6, pp. 20-36, 1995.
2. F. Lamiraux, J. P. Laumond, C. VanGeem, D. Boutonnet, and G. Raust, "Trailer truck trajectory optimization: the transportation of components for the Airbus A380," IEEE Robotics and Automation Magazine, vol. 12, no. 1, pp. 14-21, 2005.
3. D. Ding and R. A. Cooper, "Electric-powered wheelchairs," IEEE Control Systems Magazine, vol. 25, no. 2, pp. 22-34, 2005.
4. C. Canudas de Wit, H. Khennoul, C. Samson, and O. J. Sordalen, "Nonlinear control design for mobile robots," in Recent Trends in Mobile Robots, ser. Robotics and Automated Systems, Y. F. Zheng, Ed. World Scientific, 1993, ch. 5, pp. 121-156.
5. R. W. Brockett. Asymptotic Stability and Feedback Stabilisation, ser. Differential Geometric Control Theory, R. S. Millman and H. J. Sussman, Eds. Boston, MA: Birkhäuser, 1983.
6. J. L. Crowley, "Asynchronous control of orientation and displacement in a robot vehicle," in Proc. of the 1989 IEEE International Conference on Robotics and Automation (Vol. 3), Scottsdale, AZ, 1989, pp. 1277-1282.
7. Y. Kanayama, Y. Kimura, F. Miyazaki, and T. Noguchi, "A stable tracking control method for an autonomous mobile robot," in Proc. IEEE international Conference of Robotics and Automation, Cincinnati, OH, May 1990, pp. 384-389.
8. R. Fierro and F. L. Lewis, "Control of a nonholonomic mobile robot: Backstepping kinematics into dynamics," in Proc. IEEE 34th Conference on Decision and Control (CDC'95), New Orleans, LA, Dec. 1995, pp. 3805-3810.
9. N. Sarkar, X. Yun, and V. Kumar, "Control of mechanical systems with rolling constraints: Applications to dynamic control of mobile robots," International Journal of Robotics Research, vol. 13, no. 1, pp. 55-69, Feb. 1994.
10. M. L. Corradini and G. Orlando, "Robust tracking control of mobile robots in the presence of uncertainties in the dynamic model," Journal of Robotic Systems, vol. 18, no. 6, pp. 317-323, 2001.
11. M. L. Corradini, G. Ippoliti, and S. Longhi, "Neural networks based control of mobile robots: Development and experimental validation." Journal of Robotic Systems, vol. 20, no. 10, pp. 587-600, 2003.
12. M. Oubbati, M. Schanz, and P. Levi, "Kinematic and dynamic adaptive control of a nonholonomic mobile robot using RNN," in Proc. IEEE Symposium on Computational Intelligence in Robotics and Automation (CIRA'05), Helsinki, Finland, June 2005.
13. T. Fukao, H. Nakagawa, and N. Adachi, "Adaptive tracking control of a nonholonomic mobile robot," IEEE Transactions on Robotics and Automation, vol. 16, no. 5, pp. 609-615, Oct. 2000.
14. R. Fierro and F. L. Lewis, "Control of a nonholonomic mobile robot using neural networks," IEEE Trans. Neural Networks, vol. 9, no. 4, pp. 589-600, July 1998.
15. C. de Sousa, E. M. Hemerly, and R. K. H. Galvao, "Adaptive control for mobile robot using wavelet networks," IEEE Transactions on Systems, Man and Cybernetics, vol. 32, no. 4, pp. 493-504, 2002.
16. M. K. Bugeja and S. G. Fabri, "Multilayer perceptron functional adaptive control for trajectory tracking of wheeled mobile robots," in Proc. 2nd International Conference on Informatics in Control, Automation and Robotics (ICINCO2005), vol. 3, Barcelona, Spain, Sept. 2005, pp. 66-72.
17. P. S. Maybeck, Stochastic Models, Estimation and Control, ser. Mathematics in Science and Engineering, R. Bellman, Ed. London, UK: Academic Press Inc., 1979, vol. 141-1.
18. H. van de Water and J. C. Willems, "The certainty equivalence property in stochastic control theory," IEEE Transactions on Automatic Control, vol. AC-26, no. 5, pp. 1080-1087, Oct. 1981.
19. T. Poggio and F. Girosi, "Networks for approximation and learning," Proc. IEEE, vol. 78, no. 9, pp. 1481-1497, 1990.
20. R. Bellman, Adaptive Control Processes: A Guided Tour. Princeton, NJ: Princeton University Press. 1961.
21. S. G. Fabri and V. Kadirkamanathan, Functional Adaptive Control: An Intelligent Systems Approach. London. UK: Springer-Verlag, 2001.
22. S. J. Julier and J. K. Uhlmann, "A new extention of the Kalman filter to nonlinear systems," in Proc. of AeroSense: The 11th Int. Symp. on Aerospace/Defence Sensing, Simulation and Controls, 1997.