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DC Field | Value | Language |
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dc.contributor.author | Bugeja, Marvin K. | - |
dc.contributor.author | Fabri, Simon G. | - |
dc.date.accessioned | 2018-04-13T15:03:10Z | - |
dc.date.available | 2018-04-13T15:03:10Z | - |
dc.date.issued | 2006 | - |
dc.identifier.citation | Bugeja, M. K., & Fabri, S. G. (2006). Multilayer perceptron adaptive dynamic control for trajectory tracking of mobile robots. 32nd Annual Conference on IEEE Industrial Electronics, Paris. 3798-3803. | en_GB |
dc.identifier.uri | https://www.um.edu.mt/library/oar//handle/123456789/29163 | - |
dc.description.abstract | This paper presents a novel functional-adaptive dynamic controller for trajectory tracking of nonholonomic wheeled mobile robots. The controller is developed in discrete-time and employs a multilayer perceptron neural network for the estimation of the robot’s nonlinear dynamic functions, which are assumed to be completely unknown. On-line weight tuning is achieved by employing the extended Kalman filter algorithm, based on a specifically formulated stochastic inverse dynamic identification model of the mobile base. A discrete-time dynamic control law employing the estimated functions is proposed and cascaded with a trajectory tracking kinematic controller. The performance of the complete system is analysed and compared by realistic simulations. | en_GB |
dc.language.iso | en | en_GB |
dc.publisher | Institute of Electrical and Electronics Engineers | en_GB |
dc.rights | info:eu-repo/semantics/restrictedAccess | en_GB |
dc.subject | Adaptive control systems | en_GB |
dc.subject | Neural networks (Computer science) | en_GB |
dc.subject | Mobile robots | en_GB |
dc.subject | Motion control devices | en_GB |
dc.title | Multilayer perceptron adaptive dynamic control for trajectory tracking of mobile robots | en_GB |
dc.type | conferenceObject | en_GB |
dc.rights.holder | The copyright of this work belongs to the author(s)/publisher. The rights of this work are as defined by the appropriate Copyright Legislation or as modified by any successive legislation. Users may access this work and can make use of the information contained in accordance with the Copyright Legislation provided that the author must be properly acknowledged. Further distribution or reproduction in any format is prohibited without the prior permission of the copyright holder | en_GB |
dc.bibliographicCitation.conferencename | 32nd Annual Conference on IEEE Industrial Electronics | en_GB |
dc.bibliographicCitation.conferenceplace | Paris, France, 7-10/11/2006 | en_GB |
dc.description.reviewed | peer-reviewed | en_GB |
Appears in Collections: | Scholarly Works - FacEngSCE |
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Multilayer_perceptron_adaptive_dynamic_control_of_mobile_robots_experimental_validation.pdf Restricted Access | 278.25 kB | Adobe PDF | View/Open Request a copy |
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