Adaptive State Feedback Trajectory Tracking Control of a Car-Like Drive Wheeled Mobile Robot Using RBF Neural Network
Publish Year: 1393
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICEEE06_213
تاریخ نمایه سازی: 1 مهر 1394
Abstract:
This paper presents an adaptive-neural trajectorytracking controller for a nonholonomic wheeled mobile robot in presence of parametric and nonparametric uncertainty in model. A Lyapunov-based stability analysis is utilised to guarantee that tracking and state estimation errors are uniformly ultimately bounded. The proposed control algorithms are applied to a car-like drive wheeled mobile robots and simulation results are presented to illustrate the effectiveness of the proposed control law.
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Authors
Yasamin Raeisi
Department of Electrical Engineering, Najaf Abad Branch, Islamic Azad University, Esfahan, Iran
Khoshman Shojaei
Department of Electrical Engineering, Najaf Abad Branch, Islamic Azad University, Esfahan, Iran
Abbas Chatraei
Department of Electrical Engineering, Najaf Abad Branch, Islamic Azad University, Esfahan, Iran