Título: Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks
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 computedtorque 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: 19
Código DOI: 10.21528/lmln-vol1-no2-art4
Artigo em PDF: vol1-no2-art4.pdf
Arquivo BibTex: vol1-no2-art4.bib