Discrete-time neural control for electrically driven nonholonomic mobile robots

被引：13

作者：

Alanis, Alma Y. ^{[1
]}

Lopez-Franco, Michel ^{[1
]}

Arana-Daniel, Nancy ^{[1
]}

Lopez-Franco, Carlos ^{[1
]}

机构：

[1] Univ Guadalajara, CUCEI, Zapopan 45080, Jalisco, Mexico

来源：

INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 2012年 / 26卷 / 07期

关键词：

high-order neural network; extended Kalman filter; inverse optimal neural control; nonholonomic mobile robot; NONLINEAR CONTROL; STABILIZATION; TRACKING; DESIGN;

D O I：

10.1002/acs.2289

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An inverse optimal neural controller for discrete-time unknown nonlinear systems, in the presence of external disturbances and parameter uncertainties, is presented. It is based on a discrete-time recurrent high-order neural network trained with an extended Kalman filter-based algorithm. The applicability of the proposed approach is first tested via simulations for an electrically driven nonholonomic mobile robot, and finally, the proposed methodology is implemented on real time. Copyright (c) 2012 John Wiley & Sons, Ltd.

引用

页码：630 / 644

页数：15

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