Título: Control of mobile robots via biased wavelet networks
Autores: Silveira Júnior, Altamiro Veríssimo da; Hemerly, Elder Moreira
Resumo: A kinematic controller in cartesian coordinates is proposed in this paper for application in mobile robots with differential driving. Lyapunov-like analysis is employed in the control stability proof. The performance of the proposed kinematic controller is evaluated via simulation and in real time by using the Magellan-ISR mobile robot for the trajectory tracking case. Then, a Biased Wavelet Network (BWN) based controller is associated to the kinematic controller, so as to consider the effect of robot dynamic and bounded unknown disturbances. Lyapunov-like analysis is also used for establishing stable weight adaptation laws and the control system stability. Structural adaptation is used to improve the control system performance. Simulation results are presented and discussed for the dynamic control.
Palavras-chave: Wavelet networks; structural adaptation; stability proof; dynamic model; kinematic controller
Páginas: 15
Código DOI: 10.21528/lmln-vol2-no2-art3
Artigo em PDF: vol2-no2-art3.pdf
Arquivo BibTex: vol2-no2-art3.bib