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
CountryJapan
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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