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A Neuro-interface with fuzzy compensator for controlling nonholonomic mobile robots

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Abstract

This paper describes a control method for mobile robots represented by a nonlinear dynamical system, which is subjected to an output deviation caused by drastically changed disturbances. We here propose some controllers in the framework of neuro-interface. It is assumed that a neural network (NN)-based feedforward controller is construcetd by following the concept of virtual master-slave robot, in which a virtual master robot as a feedforward controller is used to control the slave (i.e., actual) robot. The whole system of the present neuro-interface consists of an NN-based feedforward controller, a feedback PD controller and an adaptive fuzzy feedback compensator. The NN-based feedforward controller is trained offline by using a gradient method, the gains of the PD controller are to be chosen constant, and the adaptive fuzzy compensator is constructed with a simplified fuzzy reasoning. Some simulations are presented to confirm the validity of the present approach, where a nonholonomic mobile robot with two independent driving wheels is assmued to have a disturbance due to the change of mass for the robot.

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Authors and Affiliations

  1. Manufacture Division, Department of Mechanical Engineering, Hasanuddin University, Ujung Pandang, Indonesia

    Rafiuddin Syam

  2. Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1 Honjomachi, Saga, 840-8502, Japan

    Keigo Watanabe & Kiyotaka Izumi

Authors
  1. Rafiuddin Syam
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  2. Keigo Watanabe
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  3. Kiyotaka Izumi
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Correspondence to Rafiuddin Syam.

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Syam, R., Watanabe, K. & Izumi, K. A Neuro-interface with fuzzy compensator for controlling nonholonomic mobile robots. Neural Comput & Applic 17, 449–461 (2008). https://doi.org/10.1007/s00521-007-0133-7

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  • DOI: https://doi.org/10.1007/s00521-007-0133-7

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