Real-Time Inverse Optimal Neural Control for Image Based Visual Servoing with Nonholonomic Mobile Robots. (18th May 2015)

• Record Type: Journal Article
• Authors: López-Franco, Carlos; López-Franco, Michel; Alanis, Alma Y.; Gómez-Avila, Javier; Arana-Daniel, Nancy
• Other Names: Garcia Carrillo Luis Rodolfo Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2015(2015)
• Publication Date: 2015-05-18
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2015/347410
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : We present an inverse optimal neural controller for a nonholonomic mobile robot with parameter uncertainties and unknown external disturbances. The neural controller is based on a discrete-time recurrent high order neural network (RHONN) trained with an extended Kalman filter. The reference velocities for the neural controller are obtained with a visual sensor. The effectiveness of the proposed approach is tested by simulations and real-time experiments.