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 |
|---|---|
| Title of host publication | Proceedings of the SICE Annual Conference |
| Pages | 717-722 |
| Number of pages | 6 |
| Publication status | Published - 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 |
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Keywords
- Dynamical inverse systems
- Feedback compensator
- Neural networks
- Neurointerface
- Nonholonomic mobile robots
- Virtual master-slave
ASJC Scopus subject areas
- Engineering(all)
Cite this
Concept of virtual master-slave systems and its application to the design of a neuro-interface. / Syam, Rafiuddin; Watanabe, Keigo; Izumi, Kiyotaka.
Proceedings of the SICE Annual Conference. 2004. p. 717-722 TAI-1-4.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Concept of virtual master-slave systems and its application to the design of a neuro-interface
AU - Syam, Rafiuddin
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
PY - 2004
Y1 - 2004
N2 - 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.
AB - 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.
KW - Dynamical inverse systems
KW - Feedback compensator
KW - Neural networks
KW - Neurointerface
KW - Nonholonomic mobile robots
KW - Virtual master-slave
UR - http://www.scopus.com/inward/record.url?scp=12744274810&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=12744274810&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:12744274810
SP - 717
EP - 722
BT - Proceedings of the SICE Annual Conference
ER -