Adaptive control for mobile robot using wavelet networks

This work improves recent results concerning the adaptive control of mobile robots via neural and wavelet networks, in the sense that the stability proof, based on the second method of Lyapunov, encompasses (1) unmodeled dynamics and disturbances in the robot model; (2) adaptation of all parameters...

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Veröffentlicht in:IEEE transactions on cybernetics 2002-08, Vol.32 (4), p.493-504
Hauptverfasser: de Sousa, C., Hemerly, E.M., Galvao, R.K.H.
Format: Artikel
Sprache:eng
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Zusammenfassung:This work improves recent results concerning the adaptive control of mobile robots via neural and wavelet networks, in the sense that the stability proof, based on the second method of Lyapunov, encompasses (1) unmodeled dynamics and disturbances in the robot model; (2) adaptation of all parameters in the wavelet networks; and (3) a flexible procedure for automatically adjusting the wavelet architecture. Prior knowledge of dynamic of the mobile robot and network training is not necessary because the controller learns the dynamics online. The wavelet network's parameters and structure are also adapted online. Simulation results are presented by using parameters of the Magellan mobile robot from IS Robotics, Inc.
ISSN:1083-4419
2168-2267
1941-0492
2168-2275
DOI:10.1109/TSMCB.2002.1018768