Neurocontroller Via Adaptive Learning Rates for Stable Path Tracking of Mobile Robots

  • Sung Jin Yoo
  • Jin Bae Park
  • Yoon Ho Choi
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4221)


In this paper, we present a neurocontroller via adaptive learning rates (ALRs) for stable path tracking of mobile robots. The self recurrent wavelet neural networks (SRWNNs) are employed as two neurocontrollers for the control of the mobile robot. Since the SRWNN combines the advantages such as the multi-resolution of the wavelet neural network and the information storage of the recurrent neural network, it can easily cope with the unexpected change of the system. Specially, the ALR algorithm in the gradient-descent method is extended for the multi-input multi-output system and is applied to train the parameters of the SRWNN controllers. The ALRs are derived from the discrete Lyapunov stability theorem, which are used to guarantee the stable path tracking of mobile robots. Finally, through computer simulations, we demonstrate the effectiveness and stability of the proposed controller.


Mobile Robot Learning Rate Mother Wavelet Reference Trajectory Wavelet Neural Network 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Sung Jin Yoo
    • 1
  • Jin Bae Park
    • 1
  • Yoon Ho Choi
    • 2
  1. 1.Yonsei UniversitySeoulKorea
  2. 2.Kyonggi UniversitySuwonKorea

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