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Tracking Control of a Mobile Robot with Kinematic Uncertainty Using Neural Networks

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Neural Information Processing (ICONIP 2006)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 4234))

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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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Author information

Authors and Affiliations

  1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, P.O.box 2728, Beijing, 100080, China

    An-Min Zou, Zeng-Guang Hou, Min Tan & Yun-Chu Zhang

  2. Institute of Automation, The Chinese Academy of Sciences, P.O.Box 2651, Beijing, 100084, China

    Xi-Jun Chen

  3. School of Information and Electric Engineering, Shandong University of Architecture and Engineering, Jinan, 250101, China

    Yun-Chu Zhang

Authors
  1. An-Min Zou
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  2. Zeng-Guang Hou
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  3. Min Tan
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  4. Xi-Jun Chen
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  5. Yun-Chu Zhang
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Editor information

Editors and Affiliations

  1. Dept. of Computer Science and Engineering, The Chinese Univ. of Hong Kong, Shatin, N.T., Hong Kong

    Irwin King

  2. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong, New Territories,, China

    Jun Wang

  3. The Chinese University of Hong Kong, Shatin, N.T., Hong Kong

    Lai-Wan Chan

  4. Department of Computer Science and Engineering & Center for Cognitive Science, The Ohio State University, OH 43210, Columbus

    DeLiang Wang

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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

  • eBook Packages: Computer ScienceComputer Science (R0)

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