Abstract
This article is concerned with the simulation of mobile robots by using the fuzzy-neural network controller (FNNC). The article describes one solution for the problem of simulation study of dynamic mobile robots to calculate the required configuration variables to accomplish the tasks of motion control, while satisfying the nonholonomic constraint.The FNNC proposed in this article can deal with unmodeled bounded disturbances and/or unstructured unmodeled dynamics in the mobile base. Results from the simulations are presented and analysed here. It is concluded by the obtained results that a FNNC together will a well known conventional computed torque controller may improve the performance of the mobile robots drastically. There is not need of a priori information of the dynamic parameters of the mobile robots, because the FNNC learns them very fast.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
