- Tytuł:
- Neural Network Identifier of a Four-wheeled Mobile Robot Subject to Wheel Slip
- Autorzy:
-
Hendzel, Z
Trojnacki, M. - Powiązania:
- https://bibliotekanauki.pl/articles/384453.pdf
- Data publikacji:
- 2014
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
mobile robot
tracking control
wheels’ slip
neural network
Lyapunov stability - Opis:
- The paper presents a sequential neural network (NN) identification scheme for the four-wheeled mobile robot subject to wheel slip. The sequential identification scheme, different from conventional methods of optimization of a cost function, attempts to ensure stability of the overall system while the neural network learns the nonlinearities of the mobile robot. An on-line weight learning algorithm is developed to adjust the weights so that the identified model can adapt to variations of the characteristics and operating points in the four-wheeled mobile robot. The proposed identification system that can guarantee stability is derived from the Lyapunov stability theory. Computer simulations have been conducted to illustrate the performance of the proposed solution by a series of experiments on the emulator of the wheeled mobile robot.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2014, 8, 4; 24-30
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł