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http://dx.doi.org/10.5302/J.ICROS.2004.10.12.1241

A Design of Fuzzy-Neural Network Controller of Wheeled-Mobile Robot for Path-Tracking  

Park Chongkug (경희대학교 전자공학과)
Kim Sangwon (경희대학교 전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.12, 2004 , pp. 1241-1248 More about this Journal
Abstract
A controller of wheeled mobile robot(WMR) based on Lyapunov theory is designed and a Fuzzy-Neural Network algorithm is applied to this system to adjust controller gain. In conventional controller of WMR that adopts fixed controller gain, controller can not pursuit trajectory perfectly when initial condition of system is changed. Moreover, acquisition of optimal value of controller gain due to variation of initial condition is not easy because it can be get through lots of try and error process. To solve such problem, a Fuzzy-Neural Network algorithm is proposed. The Fuzzy logic adjusts gains to act up to position error and position error rate. And, the Neural Network algorithm optimizes gains according to initial position and initial direction. Computer simulation shows that the proposed Fuzzy-Neural Network controller is effective.
Keywords
wheeled mobile robot; fuzzy-neural network; controller gain;
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