INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
artículos
Título:
Autonomous Mobile Robot Navigation using RBF Neural Compensator
Autor/es:
FRANCISCO ROSSOMANDO; CARLOS SORIA; RICARDO CARELLI
Revista:
CONTROL ENGINEERING PRACTICE
Editorial:
PERGAMON-ELSEVIER SCIENCE LTD
Referencias:
Lugar: Amsterdam; Año: 2011 vol. 19 p. 215 - 222
ISSN:
0967-0661
Resumen:
This paper presents an approach to adaptive trajectory tracking of mobile robots which combines a feedback linearization based on a nominal model and a RBF-NN adaptive dynamic compensation. For a robot with uncertain dynamic parameters, two controllers are implemented separately: a kinematics controller and an inverse dynamics controller. The uncertainty in the nominal dynamics model is compensated by a neural adaptive feedback controller. The resulting adaptive controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance with a small computational effort. The analysis of the RBF-NN approximation error on the control errors is included. Finally, the performance of the control system is verified through experiments.
