Neural Network Based Two Degrees-of-Freedom Design for Controlling Nonholonomic Mobile Robots
نویسندگان
چکیده
Virtual master-slave concept is proposed to realize a human-machine interface for nonholonomic systems. In this concept, the virtual master system acts as an interface to control the slave system. The control architecture using this concept is based on a two degrees-of-freedom (DOF) design, where the neural network (NN) constructs a feedforward controller, whereas a compensator acts as a feedback controller. In this paper, a backstepping method is adopted for the compensator within the virtual master-slave concept. The effectiveness of the proposed concept is illustrated through the simulation of a nonholonomic mobile robot during the navigation of trajectory tracking problem.
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