A neurointerface with an adaptive fuzzy compensator for controlling nonholonomic mobile robots

Keigo Watanabe, Rafiuddin Syam, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication2005 IEEE Workshop on Advanced Robotics and its Social Impacts
Pages243-248
Number of pages6
DOIs
Publication statusPublished - Dec 1 2005
Externally publishedYes
Event2005 IEEE Workshop on Advanced Robotics and its Social Impacts - Nagoya, Japan
Duration: Jun 12 2005Jun 15 2005

Publication series

Name2005 IEEE Workshop on Advanced Robotics and its Social Impacts
Volume2005

Other

Other2005 IEEE Workshop on Advanced Robotics and its Social Impacts
Country/TerritoryJapan
CityNagoya
Period6/12/056/15/05

Keywords

  • Fuzzy compensator
  • Inverse systems
  • Neural networks
  • Nonholonomic mobile robots

ASJC Scopus subject areas

  • Engineering(all)

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