Adaptive control of nonlinear PID-based analog neural networks for a nonholonomic mobile robot

Neurocomputing

Volumn 71, Issue 7-9, 2008, Pages 1561-1565

  Ye, Jun ^a  

^a SHAOXING COLLEGE OF ARTS AND SCIENCES   (China)

Author keywords

Adaptive control; Analog neural network; Nonholonomic mobile robot; Nonlinear PID

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; ALGORITHMS; MOBILE ROBOTS; NONLINEAR CONTROL SYSTEMS; THREE TERM CONTROL SYSTEMS;

ADAPTIVE CONTROLLER; ANALOG NEURAL NETWORK; NONHOLONOMIC MOBILE ROBOT; ONLINE LEARNING; TRACKING CONTROL;

NEURAL NETWORKS;

ADAPTATION; ARTICLE; ARTIFICIAL NEURAL NETWORK; COMPUTER SIMULATION; EXPERIMENTAL DESIGN; LEARNING ALGORITHM; NONLINEAR SYSTEM; ORIENTATION; PDI BASED ANALOG NEURAL NETWORKS; PRIORITY JOURNAL; ROBOTICS; VELOCITY;

EID: 40649106233     PISSN: 09252312     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.neucom.2007.04.014     Document Type: Article

References (10)

1. Canudas de Wit C., Khennouf H., Samson C., and Sordalen O.J. Nonlinear control design for mobile robots. In: Zheng Y.F. (Ed). Recent Trends in Mobile Robots vol. 11 (1993), World Scientific, Singapore 121-156
2. Das T., Kar I.N., and Chaudhury S. Simple neuron-based adaptive controller for a nonholonomic mobile robot including actuator dynamics. Neurocomputing 69 (2006) 2140-2151
3. Fierro R., and Lewis F.L. Control of a nonholonomic mobile robot using neural networks. IEEE Trans. Neural Networks 9 (1998) 589-600
4. Fukao T., Nakagawa H., and Adachi N. Adaptive tracking control of a nonholonomic mobile robot. IEEE Trans. Robotics Automat. 16 (2000) 609-615
5. Kolmanovsky I., and McClamroch N.H. Developments in nonholonomic control problems. IEEE Control Syst. Mag. 15 (1995) 20-36
6. Oriolo G., Luca A.D., and Vendittelli M. WMR control via dynamic feedback linearization: Design implementation and experimental validation. IEEE Trans. Control Syst. Technol 10 (2002) 835-852
7. Pourboghrat F., and Karlsson M.P. Adaptive control of dynamic mobile robots with nonholonomic constraints. Comput.Electr.Eng. 28 (2000) 241-253
8. Thanh T.D.C., and Ahn K.K. Nonlinear PID control to improve the control performance of 2 axes pneumatic artificial muscle manipulator using neural network. Mechatronics 16 (2006) 577-587
9. Yang J.M., and Kim J.H. Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots. IEEE Trans. Robotics Automat. 15 (1999) 578-587
10. Ye J., and Zhao Y.P. Application of an analog compound orthogonal neural network in robot control. In: Shi W., and Yang S.X. (Eds). Proceedings of the International Conference on Sensing, Computing and Automation, Chonqing, China, (2006), Watam Press, Canada 455-458