Abstract
This research is concerned with a control method of mobile manipulators using a neural network for traveling operations on a waved road surface. When the mobile manipulator travels on an unknown terrain, the mobile manipulator is subjected to the effect of the disturbance torques. In this research, the controller is proposed to compensate the disturbance torques. First, an exact mathematical mobile manipulator model traveling on a waved road surface is proposed with the pitching motion along to the road. Second, the neuro adaptive controller with the compensator using the neural network is proposed to improve the trajectory-tracking control performances. Third, the control performance of the adaptive controller is examined, and the tracking error depending on the amplitude of the waved road and the traveling speed are discussed. Finally, it is clarified through simulation experiments that the traveling-performance are improved by the our proposed neuro adaptive controller.
| Original language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Publisher | IEEE |
| Pages | 277-282 |
| Number of pages | 6 |
| Volume | 1 |
| Publication status | Published - 1996 |
| Externally published | Yes |
| Event | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn Duration: Mar 18 1996 → Mar 21 1996 |
Other
| Other | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) |
|---|---|
| City | Tsu, Jpn |
| Period | 3/18/96 → 3/21/96 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Motion control of mobile manipulators moving on waved road surfaces using neural networks. / Hatano, Masatoshi; Minami, Mamoru; Asakura, Toshiyuki; Takahashi, Yoshio; Ichimura, Masaki.
International Workshop on Advanced Motion Control, AMC. Vol. 1 IEEE, 1996. p. 277-282.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Motion control of mobile manipulators moving on waved road surfaces using neural networks
AU - Hatano, Masatoshi
AU - Minami, Mamoru
AU - Asakura, Toshiyuki
AU - Takahashi, Yoshio
AU - Ichimura, Masaki
PY - 1996
Y1 - 1996
N2 - This research is concerned with a control method of mobile manipulators using a neural network for traveling operations on a waved road surface. When the mobile manipulator travels on an unknown terrain, the mobile manipulator is subjected to the effect of the disturbance torques. In this research, the controller is proposed to compensate the disturbance torques. First, an exact mathematical mobile manipulator model traveling on a waved road surface is proposed with the pitching motion along to the road. Second, the neuro adaptive controller with the compensator using the neural network is proposed to improve the trajectory-tracking control performances. Third, the control performance of the adaptive controller is examined, and the tracking error depending on the amplitude of the waved road and the traveling speed are discussed. Finally, it is clarified through simulation experiments that the traveling-performance are improved by the our proposed neuro adaptive controller.
AB - This research is concerned with a control method of mobile manipulators using a neural network for traveling operations on a waved road surface. When the mobile manipulator travels on an unknown terrain, the mobile manipulator is subjected to the effect of the disturbance torques. In this research, the controller is proposed to compensate the disturbance torques. First, an exact mathematical mobile manipulator model traveling on a waved road surface is proposed with the pitching motion along to the road. Second, the neuro adaptive controller with the compensator using the neural network is proposed to improve the trajectory-tracking control performances. Third, the control performance of the adaptive controller is examined, and the tracking error depending on the amplitude of the waved road and the traveling speed are discussed. Finally, it is clarified through simulation experiments that the traveling-performance are improved by the our proposed neuro adaptive controller.
UR - http://www.scopus.com/inward/record.url?scp=0029710385&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0029710385&partnerID=8YFLogxK
M3 - Conference contribution
VL - 1
SP - 277
EP - 282
BT - International Workshop on Advanced Motion Control, AMC
PB - IEEE
ER -