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Authors: Marvin K. Bugeja and Simon G. Fabri

Affiliation: University of Malta, Malta

Keyword(s): Wheeled mobile robots, trajectory tracking, adaptive control, neural networks, stochastic estimation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: Sigmoidal multilayer perceptron neural networks are proposed to effect functional adaptive control for handling the trajectory tracking problem in a nonholonomic wheeled mobile robot. The scheme is developed in discrete time and the multilayer perceptron neural networks are used for the estimation of the robot’s nonlinear kinematic functions, which are assumed to be unknown. On-line weight tuning is achieved by employing the extended Kalman filter algorithm based on a specifically formulated multiple-input, multiple-output, stochastic model for the trajectory error dynamics of the mobile base. The estimated functions are then used on a certainty equivalence basis in the control law proposed in (Corradini et al., 2003) for trajectory tracking. The performance of the system is analyzed and compared by simulation.

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Paper citation in several formats:
K. Bugeja, M. and G. Fabri, S. (2005). MULTILAYER PERCEPTRON FUNCTIONAL ADAPTIVE CONTROL FOR TRAJECTORY TRACKING OF WHEELED MOBILE ROBOTS. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 66-72. DOI: 10.5220/0001182200660072

@conference{icinco05,
author={Marvin {K. Bugeja}. and Simon {G. Fabri}.},
title={MULTILAYER PERCEPTRON FUNCTIONAL ADAPTIVE CONTROL FOR TRAJECTORY TRACKING OF WHEELED MOBILE ROBOTS},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2005},
pages={66-72},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001182200660072},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - MULTILAYER PERCEPTRON FUNCTIONAL ADAPTIVE CONTROL FOR TRAJECTORY TRACKING OF WHEELED MOBILE ROBOTS
SN - 972-8865-30-9
IS - 2184-2809
AU - K. Bugeja, M.
AU - G. Fabri, S.
PY - 2005
SP - 66
EP - 72
DO - 10.5220/0001182200660072
PB - SciTePress