Control of mobile robots using RBF network

This paper deals with handling the unknown factors, such as the external disturbance and the unknown dynamics, for a mobile robot control. We propose a RBF network based controller for compensate for them. The stability of the proposed controller is proven by using Lyapunov function. To show the eff...

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Bibliographic Details
Main Authors: Changmok Oh, Min-Soeng Kim, Joon-Yong Lee, Ju-Jang Lee
Format: Conference Proceeding
Language:English
Subjects:
Computational modeling
Erbium
Mobile robots
Neural networks
Radial basis function networks
Robot control
Stability
Symmetric matrices
Vehicle dynamics
Wheels
Online Access:Request full text
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Summary:This paper deals with handling the unknown factors, such as the external disturbance and the unknown dynamics, for a mobile robot control. We propose a RBF network based controller for compensate for them. The stability of the proposed controller is proven by using 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. Also the proposed RBF controller outperforms the previous works from the viewpoint of computation time, which is a crucial fact for a real-applications.
DOI:10.1109/IROS.2003.1249702