Concept of virtual master-slave systems and its application to the design of a neuro-interface

Rafiuddin Syam, Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to conferencePaper

1 Citation (Scopus)

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 languageEnglish
Pages717-722
Number of pages6
Publication statusPublished - Dec 1 2004
Externally publishedYes
EventSICE Annual Conference 2004 - Sapporo, Japan
Duration: Aug 4 2004Aug 6 2004

Other

OtherSICE Annual Conference 2004
CountryJapan
CitySapporo
Period8/4/048/6/04

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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  • Cite this

    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.