Control of an Uncertain Nonholonomic Mobile Manipulator based on the Diagonal Recurrent Neural Network

摘要：

In this paper, control of a nonholonomic mobile manipulators with unknown dynamics is considered using Diagonal Recurrent Neural Network. The system is subject to nonholonomic constraint. The adaptive recurrent neural network controller is presented to deal with the unmodelled dynamics in the system. The proposed control strategy guarantees that the system motion asymptotically converges to the desired manifold.

关键词： Mobile manipulator Diagonal recurrent neural network Adaptive control Nonholonomic system

作者: Z.P. Wang T. Zhou

作者单位: with the Department of Control Science and Engineering,Tongji University,201804 China

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 4052-4055

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）