Evolutionary Strategies Used for the Mobile Robot Trajectory Tracking Control

被引：0

作者：

Serbencu, Adriana ^{[1
]}

Serbencu, Adrian Emanoil ^{[1
]}

Cernega, Daniela Cristina ^{[1
]}

机构：

[1] Dunarea de Jos Univ Galati, Control Syst & Ind Informat Dept, Fac Comp Sci, Galati, Romania

来源：

ARTIFICIAL NEURAL NETWORKS-ICANN 2010, PT II | 2010年 / 6353卷

关键词：

Sliding Mode Control; Trajectory Tracking; Evolution Strategy; VARIABLE STRUCTURE CONTROL;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper addresses the Trajectory Tracking Problem for the Wheeled Mobile Robot, which is a nonlinear system. The trajectory tracking control problem is solved using the sliding mode control. In this paper the Evolution Strategy is investigated in order to obtain the best values for the sliding mode control law parameters. The performances of the control law with the optimum parameters are analyzed. The conclusions are based on the simulation results.

引用

页码：286 / 295

页数：10

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