Research on NN-PID Motion Control Technology for a Wheeled Mobile Robot

Shi Zhu Feng; Ming Xu

doi:10.4028/www.scientific.net/AMR.538-541.2636

Paper Titles

Force Analysis of Luffing Mechanism of Lemniscate Type Crane with Boom Driving
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Redundant Lifting Wavelet Packet Analysis Based on Variable Parameter and Bearing Fault Feature Extraction
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Longitudinal Dynamics Response of M-Wing Morphing Aircraft
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The Dynamics Analysis of a Multi-Stage Hybrid Planetary Gearing
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Research on NN-PID Motion Control Technology for a Wheeled Mobile Robot
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Expert System of Chinese Medicine on the Moving Robotic Platform
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Application of Bipectrum in Mechanical Fault Diagnosis
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Optimal Pole Assignment of Self-Balancing Robot System
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Heteroclinic Bifurcation Analysis of Duffing-Van Der Pol System by the Hyperbolic Lindstedt-Poincaré Method
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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 538-541Research on NN-PID Motion Control Technology for a...

Research on NN-PID Motion Control Technology for a Wheeled Mobile Robot

Abstract:

Robotics is a spiry integral technology of mechanics, electrics and cybernetics. Through systematical study of a wheeled mobile robot, The kinematic model of it is deduced. A Cerebella Model Articulation Controller (CMAC) PID controller was developed to control the motion to accomplish the realistic motions of the wheeled mobile robot system. The experimental is carried out. The results prove the algorithm is correct, and indicate that the design of CMAC-PID controller is a success. The whole research will provide a reference to the study of the mobile robotics.

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Periodical:

Advanced Materials Research (Volumes 538-541)

Pages:

2636-2640

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.538-541.2636

Citation:

Cite this paper

Online since:

June 2012

Authors:

Shi Zhu Feng, Ming Xu

Keywords:

CMAC-PID Controller, Kinematic Model, Locomotion System, Wheeled Mobile Robot

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References

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