Controle de Robôs Móveis via Rede Wavelet

Título: Controle de Robôs Móveis via Rede Wavelet

Autores: Silveira Júnior, Altamiro Veríssimo; Hemerly, Elder Moreira

Resumo: A Biased Wavelet Network (BWN) based controller is employed in this paper for application in mobile robot, with kinematic described in cartesian coordinates. The problem here concerns trajectory tracking and Yamamoto’s dynamic model is employed. Lyapunov second method is used for establishing stable weight adaptation laws and the control system stability. Structural adaptation is used to improve the control performance. Simulations results are also presented.


Páginas: 6

Código DOI: 10.21528/CBRN2003-019

Artigo em PDF: 6CBRN_019.PDF

Arquivo BibTex: 6CBRN_019.bib