Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2004.07d
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- Pages.2501-2503
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- 2004
Design of Mobile Robot Auto-Tuning Controller Using Nueal Networks
신경망을 이용한 이동로봇의 자기동조 제어기 설계
- Kim, Dong-Wook (E&E Department Dongeui University) ;
- Kwak, Il-Doo (E&E Department Dongeui University) ;
- Lee, Yang-Woo (E&E Department Dongeui University)
- Published : 2004.07.14
Abstract
In this paper, we propose an auto-tuning control algorithm for a mobile robot. This controller consists of a three layer neural networks and a PID controller. In order to compensate for uncertainties from unknown dynamics and ignored dynamic effects such as slip conditions, neural network based position schemes are proposed. The results of simulations show the validity of proposed method. This controller learns quickly the model and has good position control performance.
Keywords