Direct adaptive control using self recurrent wavelet neural network via adaptive learning rates for stable path tracking of mobile robots.
Sung Jin YooJin Bae ParkYoon Ho ChoiPublished in: ACC (2005)
Keyphrases
- wavelet neural network
- adaptive control
- learning rate
- mobile robot
- chaotic systems
- dynamic environments
- nonlinear systems
- convergence rate
- control method
- control law
- reinforcement learning
- path planning
- prediction model
- learning algorithm
- adaptive learning
- wavelet analysis
- training algorithm
- hidden layer
- activation function
- convergence speed
- nonlinear functions
- feed forward neural networks
- autonomous robots
- function approximation
- feed forward
- motion planning
- control algorithm
- real time
- generalization ability
- bp neural network
- control strategy
- control parameters
- multi robot
- data mining