Abstract
This paper describes an adaptive control for nonholonomic mobile robots, which are subjected to a suddenly changed disturbance due to the change of payloads. We adopts a control architecture based on a two-degrees-of-freedom design, where the feedforward controller is constructed by a neural network (NN) to acquire an inverse dynamical model of the robot, whereas the feedback controller is designed by two methods: one is a conventional PD compensator and the other is an adaptive fuzzy compensator. A concept of virtual master-slave robots is applied to obtain an inverse model of a nonholonomic robot. A compensator needs to be used to reduce the effect of the NN mapping errors or to suppress the effect of a sudden change of payloads. It is demonstrated by several simulations that the present approach Is effective for controlling a nonholonomic mobile robot in a navigation of trajectory tracking problem for the positions and azimuth.
| Original language | English |
|---|---|
| Title of host publication | 2005 IEEE Workshop on Advanced Robotics and its Social Impacts |
| Pages | 243-248 |
| Number of pages | 6 |
| Volume | 2005 |
| DOIs | |
| Publication status | Published - 2005 |
| Externally published | Yes |
| Event | 2005 IEEE Workshop on Advanced Robotics and its Social Impacts - Nagoya, Japan Duration: Jun 12 2005 → Jun 15 2005 |
Other
| Other | 2005 IEEE Workshop on Advanced Robotics and its Social Impacts |
|---|---|
| Country | Japan |
| City | Nagoya |
| Period | 6/12/05 → 6/15/05 |
Fingerprint
Keywords
- Fuzzy compensator
- Inverse systems
- Neural networks
- Nonholonomic mobile robots
ASJC Scopus subject areas
- Engineering(all)
Cite this
A neurointerface with an adaptive fuzzy compensator for controlling nonholonomic mobile robots. / Watanabe, Keigo; Syam, Rafiuddin; Izumi, Kiyotaka.
2005 IEEE Workshop on Advanced Robotics and its Social Impacts. Vol. 2005 2005. p. 243-248 1511659.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - A neurointerface with an adaptive fuzzy compensator for controlling nonholonomic mobile robots
AU - Watanabe, Keigo
AU - Syam, Rafiuddin
AU - Izumi, Kiyotaka
PY - 2005
Y1 - 2005
N2 - This paper describes an adaptive control for nonholonomic mobile robots, which are subjected to a suddenly changed disturbance due to the change of payloads. We adopts a control architecture based on a two-degrees-of-freedom design, where the feedforward controller is constructed by a neural network (NN) to acquire an inverse dynamical model of the robot, whereas the feedback controller is designed by two methods: one is a conventional PD compensator and the other is an adaptive fuzzy compensator. A concept of virtual master-slave robots is applied to obtain an inverse model of a nonholonomic robot. A compensator needs to be used to reduce the effect of the NN mapping errors or to suppress the effect of a sudden change of payloads. It is demonstrated by several simulations that the present approach Is effective for controlling a nonholonomic mobile robot in a navigation of trajectory tracking problem for the positions and azimuth.
AB - This paper describes an adaptive control for nonholonomic mobile robots, which are subjected to a suddenly changed disturbance due to the change of payloads. We adopts a control architecture based on a two-degrees-of-freedom design, where the feedforward controller is constructed by a neural network (NN) to acquire an inverse dynamical model of the robot, whereas the feedback controller is designed by two methods: one is a conventional PD compensator and the other is an adaptive fuzzy compensator. A concept of virtual master-slave robots is applied to obtain an inverse model of a nonholonomic robot. A compensator needs to be used to reduce the effect of the NN mapping errors or to suppress the effect of a sudden change of payloads. It is demonstrated by several simulations that the present approach Is effective for controlling a nonholonomic mobile robot in a navigation of trajectory tracking problem for the positions and azimuth.
KW - Fuzzy compensator
KW - Inverse systems
KW - Neural networks
KW - Nonholonomic mobile robots
UR - http://www.scopus.com/inward/record.url?scp=33746807742&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33746807742&partnerID=8YFLogxK
U2 - 10.1109/ARSO.2005.1511659
DO - 10.1109/ARSO.2005.1511659
M3 - Conference contribution
AN - SCOPUS:33746807742
SN - 0780389476
SN - 9780780389472
VL - 2005
SP - 243
EP - 248
BT - 2005 IEEE Workshop on Advanced Robotics and its Social Impacts
ER -