Handbook of Research on Advancements in Robotics and Mechatronics

Yıldırım Ş. , Savaş S.

Tracking Control of a Nonholonomic Mobile Robot Using Neural Network, Habib Maki K., Editör, IGI Global, Cairo, ss.631-661, 2015

  • Basım Tarihi: 2015
  • Yayın Evi: IGI Global
  • Basıldığı Şehir: Cairo
  • Sayfa Sayısı: ss.631-661
  • Editörler: Habib Maki K., Editör


The goal of this chapter is to enable a nonholonomic mobile robot to track a specified trajectory with minimum tracking error. Towards that end, an adaptive P controller is designed whose gain parameters are tuned by using two feed-forward neural networks. Back-propagation algorithm is chosen for online learning process and posture-tracking errors are considered as error values for adjusting weights of neural networks. The tracking performance of the controller is illustrated for different trajectories with computer simulation using Matlab/Simulink. In addition, open-loop response of an experimental mobile robot is investigated for these different trajectories. Finally, the performance of the proposed controller is compared to a standard PID controller. The simulation results show that “adaptive P controller using neural networks” has superior tracking performance at adapting large disturbances for the mobile robot.