NDLI: Dual-Adaptive Computer Control of a Mobile Robot Based on the Unscented Transform

Content Provider	IEEE Xplore Digital Library
Author	Bugeja, M.K. Fabri, S.G.
Copyright Year	2009
Abstract	This paper presents experimental results validating a novel dual adaptive neuro-control scheme based on the unscented transform, for the dynamic control of nonholonomic wheeled mobile robots. This novel controller, recently proposed by the same authors, has so far been tested by simulations only. In contrast to the majority of adaptive control techniques hitherto proposed in the literature, the controller tested in this paper does not rely on the heuristic certainty equivalence assumption, but accounts for the estimates’ uncertainty via the principle of dual adaptive control. Effectively it aims to strike a balance between estimation and control, which are typically in conflict. Moreover, this novel dual adaptive control law employs the unscented transform, to improve on the first-order Taylor approximations inherent in a number of previously published extended Kalman filter based dual adaptive schemes. A brief description of the mobile robot designed for the purpose of this research is also included in this paper.
Starting Page	136
Ending Page	141
File Size	410468
Page Count	6
File Format	PDF
ISBN	9781424450824
DOI	10.1109/ADVCOMP.2009.27
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-11
Publisher Place	Malta
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Artificial neural networks neural networks Control systems mobile robots Mobile robots Adaptive control Sliding mode control unscented Kalman filter Robust control Programmable control Velocity control stochastic control Testing Dual adaptive control
Content Type	Text
Resource Type	Article

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