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Multilayer perceptron dual adaptive control for mobile robots
2007
2007 Mediterranean Conference on Control & Automation
This paper presents a novel dual adaptive dynamic controller for trajectory tracking of nonholonomic wheeled mobile robots. The controller is developed in discrete-time and the robot's nonlinear dynamic functions are assumed to be unknown. A sigmoidal multilayer perceptron neural network is employed for function approximation, and its weights are estimated stochastically in real-time. In contrast to adaptive certainty equivalence controllers hitherto published for mobile robots, the proposed
doi:10.1109/med.2007.4433902
fatcat:2g57keq5a5asjkqzke4xpph24y