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Control of mobile robots using RBF network | IEEE Conference Publication | IEEE Xplore

Control of mobile robots using RBF network


Abstract:

This paper deals with handling the unknown factors, such as the external disturbance and the unknown dynamics, for a mobile robot control. We propose a RBF network based ...Show More

Abstract:

This paper deals with handling the unknown factors, such as the external disturbance and the unknown dynamics, for a mobile robot control. We propose a RBF network based controller for compensate for them. The stability of the proposed controller is proven by using Lyapunov function. To show the effectiveness of the proposed controller, several simulation results are presented. Through the simulations, we show that the proposed controller can overcome the modelling uncertainty and the disturbances. Also the proposed RBF controller outperforms the previous works from the viewpoint of computation time, which is a crucial fact for a real-applications.
Date of Conference: 27-31 October 2003
Date Added to IEEE Xplore: 03 December 2003
Print ISBN:0-7803-7860-1
Conference Location: Las Vegas, NV, USA

References

References is not available for this document.