Limit cycles in neurocontrolled minirobots
Limit cycles in neurocontrolled minirobots
- Author(s): A. Delgado ; K. Warwick ; C. Kambhampati
- DOI: 10.1049/cp:19980222
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- Author(s): A. Delgado ; K. Warwick ; C. Kambhampati Source: UKACC International Conference on Control (CONTROL '98), 1998 p. 173 – 177
- Conference: UKACC International Conference on Control (CONTROL '98)
- DOI: 10.1049/cp:19980222
- ISBN: 0 85296 708 X
- Location: Swansea, UK
- Conference date: 1-4 Sept. 1998
- Format: PDF
This paper presents the stability analysis of the movement of a small robot controlled by a feedforward neural network. The minirobot is assumed to have one position sensor and one motor. A describing function of the neural network is used to determine the bounds for the network weights in order to predict limit cycles and to avoid oscillations of the minirobot when it is close to obstacles.
Inspec keywords: stability; feedforward neural nets; limit cycles; describing functions; motion control; mobile robots; nonlinear systems; neurocontrollers; closed loop systems
Subjects: Mobile robots; Spatial variables control; Stability in control theory; Neural nets (theory); Nonlinear control systems; Neurocontrol
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