Título: Investigação de Estratégias de Controle empregando-se Redes Neurais para Implementação no Robô Móvel Magellan
Autores: Pimentel, Juliano Cesar; Hemerly, Elder Moreira
Resumo: This paper investigates the implementation of control laws in a real mobile robot. Such laws were tuned to make possible for the robot to start up smoothly and accelerate to the nominal speed, both in straight trajectories and closed ones. The complete dynamic model of the mobile robot is used, including unmodelled bounded disturbances and unstructured unmodelled dynamics. For such model, a control strategy is used applying artificial neural networks, whose weights guarantee small tracking errors and bounded control signals. Simulation results with the Magellan parameters show the good performance of the analyzed strategies.
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Páginas: 6
Código DOI: 10.21528/CBRN2001-040
Artigo em pdf: 5cbrn_040.pdf
Arquivo BibTex: 5cbrn_040.bib