Improvement of control performance using neural networks for mobile manipulators traveling on unknown irregular terrain: evaluation of performance through simulations and real experiments

摘要

The purpose of this research is to improve control performance for mobile operations by mobile manipulators traveling unknown irregular terrain. In this paper, first, a dynamical modeling is done with characteristics of the hardware. Second, a neuro adaptive control system is constructed. Third, simulations and real experiments are performed. Finally, control performance of the proposed system is evaluated.