Abstract
A tracking control problem for the speed and azimuth of a mobile robot driven by two independent wheels is solved by using a fuzzy gaussian neural network (FGNN) controller. The computed torque control law is first derived to obtain some relationships between the driving torques and the plant output information. To simplify the FGNN controller for the two-input two-output controlled system, we propose a learning controller consisting of two FGNNs based on independent reasoning and a connection net with fixed weights. The effectiveness of the proposed method is illustrated by performing the simulation of a circular trajectory tracking control.
| Original language | English |
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| Title of host publication | 1993 Int Conf Intell Rob Syst |
| Editors | Anon |
| Publisher | Publ by IEEE |
| Pages | 919-925 |
| Number of pages | 7 |
| ISBN (Print) | 0780308239 |
| Publication status | Published - Dec 1 1993 |
| Externally published | Yes |
| Event | 1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap Duration: Jul 26 1993 → Jul 30 1993 |
Publication series
| Name | 1993 Int Conf Intell Rob Syst |
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Other
| Other | 1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) |
|---|---|
| City | Yokohama, Jap |
| Period | 7/26/93 → 7/30/93 |
ASJC Scopus subject areas
- Engineering(all)
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Cite this
Watanabe, K., Tang, J., Nakamura, M., Koga, S., & Fukuda, T. (1993). Mobile robot control using fuzzy-Gaussian neural networks. In Anon (Ed.), 1993 Int Conf Intell Rob Syst (pp. 919-925). (1993 Int Conf Intell Rob Syst). Publ by IEEE.