Control of a nonholonomic mobile robot using RBF network

This article deals with handling unknown factors, such as external disturbance and unknown dynamics, for mobile robot control. We propose a radial-basis function (RBF) network-based controller to compensate for these. The stability of the proposed controller is proven using the Lyapunov function. To show the effectiveness of the proposed controller, several simulation results are presented. Through the simulations, we show that the proposed controller can overcome the modelling uncertainty and the disturbances. The proposed RBF controller also outperforms previous work from the viewpoint of computation time, which is a crucial fact for real-time applications.
Publisher
Springer
Issue Date
2004-02
Language
ENG
Description

This work was presented in part at the 8th International Symposium on Artificial Life and Robotics, Oita, Japan, January 24–26, 2003

Citation

ARTIFICIAL LIFE AND ROBOTICS, v.8, no.1, pp.14 - 19

ISSN
1433-5298
URI
http://hdl.handle.net/10203/8220
Appears in Collection
EE-Journal Papers(저널논문)
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