Abstract
In this paper, a kinematic controller based on input-output linearization plus neural network (NN) controller is presented for tracking control of a mobile robot with kinematic uncertainty. The NN controller, whose parameters are tuned on-line, can deal with the uncertainty imposed on the kinematics model of mobile robots. The stability of the proposed approach is guaranteed by the Lyapunov theory. Simulation results show the efficiency of the proposed approach.
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© 2006 Springer-Verlag Berlin Heidelberg
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Zou, AM., Hou, ZG., Tan, M., Chen, XJ., Zhang, YC. (2006). Tracking Control of a Mobile Robot with Kinematic Uncertainty Using Neural Networks. In: King, I., Wang, J., Chan, LW., Wang, D. (eds) Neural Information Processing. ICONIP 2006. Lecture Notes in Computer Science, vol 4234. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11893295_79
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DOI: https://doi.org/10.1007/11893295_79
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-46484-6
Online ISBN: 978-3-540-46485-3
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