loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Marvin K. Bugeja and Simon G. Fabri

Affiliation: University of Malta, Malta

ISBN: 978-989-674-014-6

Keyword(s): Dual adaptive control, Stochastic control, Neural networks, Unscented Kalman filter, Mobile robots.

Related Ontology Subjects/Areas/Topics: Adaptive Architectures and Mechanisms ; Artificial Intelligence ; Artificial Intelligence and Decision Support Systems ; Biomedical Engineering ; Biomedical Signal Processing ; Computational Intelligence ; Computational Neuroscience ; Enterprise Information Systems ; Health Engineering and Technology Applications ; Human-Computer Interaction ; Methodologies and Methods ; Neural Network Software and Applications ; Neural Networks ; Neurocomputing ; Neurotechnology, Electronics and Informatics ; Pattern Recognition ; Physiological Computing Systems ; Sensor Networks ; Signal Processing ; Soft Computing ; Supervised and Unsupervised Learning ; Theory and Methods

Abstract: This paper proposes a novel dual adaptive neuro-control scheme based on the unscented transform for the dynamic control of nonholonomic wheeled mobile robots. The controller is developed in discrete time and the robot nonlinear dynamic functions are unknown to the controller. A multilayer perceptron neural network is used to approximate the nonlinear robot dynamics. The network is trained online via a specifically devised unscented Kalman predictor. In contrast to the majority of adaptive control techniques hitherto proposed in the literature, the controller presented in this paper does not rely on the heuristic certainty equivalence assumption, but accounts for the estimates’ uncertainty via the principle of dual adaptive control. Moreover, the novel dual adaptive control law employs the unscented transform to improve on the first-order Taylor approximations inherent in previously published dual adaptive schemes. Realistic simulations, including comparative Monte Carlo tests, are use d to illustrate the effectiveness of the proposed approach. (More)

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 34.228.41.66

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
K. Bugeja M. and G. Fabri S. (2009). A NOVEL DUAL ADAPTIVE NEURO-CONTROLLER BASED ON THE UNSCENTED TRANSFORM FOR MOBILE ROBOTS.In Proceedings of the International Joint Conference on Computational Intelligence - Volume 1: ICNC, (IJCCI 2009) ISBN 978-989-674-014-6, pages 355-362. DOI: 10.5220/0002313503550362

@conference{icnc09,
author={Marvin K. Bugeja and Simon G. Fabri},
title={A NOVEL DUAL ADAPTIVE NEURO-CONTROLLER BASED ON THE UNSCENTED TRANSFORM FOR MOBILE ROBOTS},
booktitle={Proceedings of the International Joint Conference on Computational Intelligence - Volume 1: ICNC, (IJCCI 2009)},
year={2009},
pages={355-362},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002313503550362},
isbn={978-989-674-014-6},
}

TY - CONF

JO - Proceedings of the International Joint Conference on Computational Intelligence - Volume 1: ICNC, (IJCCI 2009)
TI - A NOVEL DUAL ADAPTIVE NEURO-CONTROLLER BASED ON THE UNSCENTED TRANSFORM FOR MOBILE ROBOTS
SN - 978-989-674-014-6
AU - K. Bugeja M.
AU - G. Fabri S.
PY - 2009
SP - 355
EP - 362
DO - 10.5220/0002313503550362

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.