Wavelet Neural Network Based GPC For Mobile Robots

In this paper, On-line identification and control scheme based on wavelet neural network for mobile robot is presented. Wavelet neural network is applied to identify the mobile Robot model and based on this model; a generalized predictive controller is designed and applied to the system. The network parameters and the controller parameters are trained by gradient descent algorithm. Due to general structure of controller, even under strict condition of fix learning rate, controller performance was found to be highly satisfactory and stable path tracking was achieved.

Keywords:

Online Identification , Wavelet , Gradient Descent , Generalized Predictive Controller