Control of a Nonholonomic Mobile Robot Using Neural Networks

Introduction

这篇文章主要就是提出了一个control structure that makes possible the integration of a kinematic controller and a neural network computed-torque controller for nonholonomic mobile robots.

Mobile robot navigation can be classified into three basic problems: tracking a reference trajectory, following a path and point stabilization. Some nonlinear feedback controllers have been proposed for solving these problems. The main idea behind these algorithms is to find suitable velocity control inputs which stabilize the closed-loop system. 这篇文章这三种问题都要解决。

现在解决方法中，一般To compute the vehicle control inputs, it is assumed that there is “perfect velocity tracking”. 这样的假设会带来三个问题：

• the perfect velocity tracking assumption does not hold in practice
• disturbances are ignored
• complete knowledge of the dynamics is needed

这篇文章提出的方法其实就是通过一个NN controller来解决上面的问题。
下面来简要介绍一下