Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.12104/40688
Title: Discrete time neural control of a nonholonomic mobile robot integrating stereo vision feedback
Author: Lopez-Franco, M.
Salome-Baylon, A.
Alanis, A.Y.
Arana-Daniel, N.
Issue Date: 2011
Abstract: The tracking control of nonholonomic mobile robots has been an important class of control problems. This paper deals with the design and real-time implementation of a discrete-time super twisting control algorithm for nonholonomic wheeled mobile robots, without the previous knowledged of the plant model or its parameters. In order to show the effectiveness of the proposed controller experimental results are included for a nonholonomic mobile robot Qbot® 3. " 2011 IEEE.",,,,,,"10.1109/ICEEE.2011.6106692",,,"http://hdl.handle.net/20.500.12104/40688","http://www.scopus.com/inward/record.url?eid=2-s2.0-84855791615&partnerID=40&md5=52b614f48306a1e061271dd39c87a6f4",,,,,,,,"CCE 2011 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, Program and Abstract Book",,,,,,"Scopus",,,,,,"Discrete control; Super twisting control",,,,,,"Discrete super twisting control algorithm for the nonholonomic mobile robots tracking problem",,"Conference Paper" "42468","123456789/35008",,"Lopez-Franco, M., CINVESTAV, Unidad Guadalajara, Jalisco 45015, Mexico; Sanchez, E.N., CINVESTAV, Unidad Guadalajara, Jalisco 45015, Mexico; Alanis, A.Y., CUCEI, Universidad de Guadalajara, Apartado Postal 51-71, Col. las aguilas, C.P. 45080, Zapopan, Jalisco, Mexico; Lopez-Franco, C., CUCEI, Universidad de Guadalajara, Apartado Postal 51-71, Col. las aguilas, C.P. 45080, Zapopan, Jalisco, Mexico",,"Lopez-Franco, M.
Sanchez, E.N.
Alanis, A.Y.
Lopez-Franco, C.",,"2013",,"In this paper, we present a discrete time neural controller for driving a nonholonomic mobile robot integrating stereo camera sensos. The proposed approach is based on a discrete-time high order neural network (RHONN) trained with an extended Kalman filter (EKF). The desired trjectory of the robot is computed during the navigation process using the stereo camera sensor. Simulation result is presented to show the effectiveness of the proposed control scheme. " 2013 IEEE.
URI: http://hdl.handle.net/20.500.12104/40689
http://www.scopus.com/inward/record.url?eid=2-s2.0-84893542207&partnerID=40&md5=817bc576bbf4fc593561f07eaed2e2ea
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