Abstract
A design method for neural network (NN) based feedforward controller in the framework of neurointerface is proposed for nonholonomic robots by applying a concept of virtual master-slave system, in which a master robot is assumed to have a stable inverse dynamical model that includes unknown physical parameters. A PD-based feedback compensator is simply added to the neurointerface to suppress an output deviation caused by the mapping error of NN. The effectiveness of the present approach is shown by a simulation for a tracking control problem of a nonholonomic mobile robot with two-independent driving wheels.
| Original language | English |
|---|---|
| Pages | 717-722 |
| Number of pages | 6 |
| Publication status | Published - Dec 1 2004 |
| Externally published | Yes |
| Event | SICE Annual Conference 2004 - Sapporo, Japan Duration: Aug 4 2004 → Aug 6 2004 |
Other
| Other | SICE Annual Conference 2004 |
|---|---|
| Country | Japan |
| City | Sapporo |
| Period | 8/4/04 → 8/6/04 |
Keywords
- Dynamical inverse systems
- Feedback compensator
- Neural networks
- Neurointerface
- Nonholonomic mobile robots
- Virtual master-slave
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
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Syam, R., Watanabe, K., & Izumi, K. (2004). Concept of virtual master-slave systems and its application to the design of a neuro-interface. 717-722. Paper presented at SICE Annual Conference 2004, Sapporo, Japan.