Now showing items 1-10 of 37
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances
In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and ...
Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology
(John Wiley & Sons Inc, 2014-11)
A major issue in the automatic guidance of vehicles is the design of control laws dedicated to the specific mobile platform used. Thus, if the model associated with the mobile platform or its constraints change, a new ...
Sistema de navegação para robôs móveis autônomos
(Universidade Federal do Rio Grande do NorteBRUFRNPrograma de Pós-Graduação em Engenharia ElétricaAutomação e Sistemas; Engenharia de Computação; Telecomunicações, 2001-08-31)
The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an ...
Sliding Mode Control for Trajectory Tracking of a Non-holonomic Mobile Robot using Adaptive Neural Networks
(Romanian Society of Control Engineering and Technical Informatics, 2014-10)
In this work a sliding mode control method for a non-holonomic mobile robot using an adaptive neural network is proposed. Due to this property and restricted mobility, the trajectory tracking of this system has been one ...
Virtual simulator for mobile robots navigation systems
This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and ...
Controle adaptativo robusto para um modelo desacoplado de um robô móvel
(Universidade Federal do Rio Grande do NorteBRUFRNPrograma de Pós-Graduação em Engenharia ElétricaAutomação e Sistemas; Engenharia de Computação; Telecomunicações, 2010-02-01)
This thesis presents a new structure of robust adaptive controller applied to mobile robots (surface mobile robot) with nonholonomic constraints. It acts in the dynamics and kinematics of the robot, and it is split in two ...