Título: Controle de Robôs Móveis via Modos Deslizantes e Redes Neurais
Autores: Oliveira, Vinícius M. de; Pieri, Edson R. de; Lages, Walter F.
Resumo: The complete model of a mobile robot can be divided into kinematics and dynamics. To take advantage from this fact, a combined controller of a sliding mode kinematic controller with a neural network computed-torque dynamic controller is proposed. The proof of stability is based on the Lyapunov theory. Concerning with Brockett’s theorem, the kinematic controller fulfills the requirements and the robot can be stabilized in a desired posture. Experimental real-time results are presented.
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Páginas: 6
Código DOI: 10.21528/CBRN2001-091
Artigo em pdf: 5cbrn_091.pdf
Arquivo BibTex: 5cbrn_091.bib