Neural Network Identifier of a Four-wheeled Mobile Robot Subject to Wheel Slip

• Autorzy: Hendzel Z , Trojnacki M.

Identyfikatory

DOI

10.14313/JAMRIS_4-2014/34

• Języki publikacji: EN

Abstrakty

EN

The paper presents a sequential neural network (NN) identification scheme for the four-wheeled mobile robot subject to wheel slip. The sequential identification scheme, different from conventional methods of optimization of a cost function, attempts to ensure stability of the overall system while the neural network learns the nonlinearities of the mobile robot. An on-line weight learning algorithm is developed to adjust the weights so that the identified model can adapt to variations of the characteristics and operating points in the four-wheeled mobile robot. The proposed identification system that can guarantee stability is derived from the Lyapunov stability theory. Computer simulations have been conducted to illustrate the performance of the proposed solution by a series of experiments on the emulator of the wheeled mobile robot.

Słowa kluczowe

EN

mobile robot; tracking control; wheels’ slip; neural network; Lyapunov stability

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2014
• Tom: Vol. 8, No. 4
• Strony: 24--30
• Opis fizyczny: Bibliogr. 16 poz., rys.

Twórcy

autor

Hendzel Z

• Rzeszów University of Technology, Rzeszów, 35-959, Poland

autor

Trojnacki M.

• Industrial Research Institute for Automation and Measurements PIAP, Warsaw, 02‑486, Poland

Bibliografia

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