A Neuro-interface with fuzzy compensator for controlling nonholonomic mobile robots

摘要

This paper describes a control method for mobile robots represented by a nonlinear dynamical system, which is subjected to an output deviation caused by drastically changed disturbances. We here propose some controllers in the framework of neuro-interface. It is assumed that a neural network (NN)-based feedforward controller is construcetd by following the concept of virtual master-slave robot, in which a virtual master robot as a feedforward controller is used to control the slave (i.e., actual) robot. The whole system of the present neuro-interface consists of an NN-based feedforward controller, a feedback PD controller and an adaptive fuzzy feedback compensator. The NN-based feedforward controller is trained offline by using a gradient method, the gains of the PD controller are to be chosen constant, and the adaptive fuzzy compensator is constructed with a simplified fuzzy reasoning. Some simulations are presented to confirm the validity of the present approach, where a nonholonomic mobile robot with two independent driving wheels is assmued to have a disturbance due to the change of mass for the robot.