Multilayer perceptron functional adaptive control for trajectory tracking of wheeled mobile robots.
Marvin K. BugejaSimon G. FabriPublished in: ICINCO (2005)
Keyphrases
- multilayer perceptron
- adaptive control
- trajectory tracking
- wheeled mobile robots
- control law
- control method
- closed loop
- sliding mode
- variable structure
- nonlinear systems
- neural network
- control system
- control algorithm
- artificial neural networks
- radial basis function
- feedback control
- visual servoing
- back propagation
- control scheme
- control strategy
- control theory
- hidden layer
- neural network model
- stability analysis
- optimal control
- dynamical systems
- motion planning
- pid controller
- autonomous robots
- chaotic systems
- fuzzy control
- dynamic model
- activation function
- reinforcement learning
- fuzzy controller
- feed forward
- bi directional
- physical constraints
- control parameters
- real time