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Control de Robots Móviles con Incertidumbres Dinámicas usando Redes de Base Radial

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Control de Robots Móviles con Incertidumbres Dinámicas usando Redes de Base Radial

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dc.contributor.author Rossomando, Francisco G. es_ES
dc.contributor.author Soria, Carlos es_ES
dc.contributor.author Carelli, Ricardo es_ES
dc.date.accessioned 2020-05-28T14:40:18Z
dc.date.available 2020-05-28T14:40:18Z
dc.date.issued 2010-10-08
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/144515
dc.description.abstract [ES] En este trabajo se presenta un control de seguimiento de trayectorias de robots móviles. La estructura de control propuesta combina una linealización por realimentación basada en el modelo cinemático nominal, y una red neuronal directa para el control dinámico adaptable. La dinámica del robot es aprendida por una red neuronal basada en funciones de base radial (RN-FBR) en un lazo de realimentación adaptable, ajustando el peso y las funciones de base radial. Se muestra un análisis de estabilidad del sistema de neuro-control adaptable. Se comprueba que los errores de control están limitados en función del error de aproximación de la RN-FBR. El funcionamiento del controlador también se verifica experimentalmente. es_ES
dc.description.abstract [EN] This paper presents an adaptive trajectory tracking control for mobile robots for which stability conditions and performance evaluation are given. The proposed control structure combines a feedback linearization model, based on a kinematics nominal model, and a direct neural network-based adaptive dynamics control. The control system design is done considering uncertain dynamic parameters in the dynamic model of the robot. The uncertainty in the dynamics model is learned by a RBF neural network in an adaptive feedback loop, adjusting the weight and the radial basis functions. The proposed RBF-NN scheme is computationally more efficient than the case of using the learning capabilities of the neural network to be adapted, as that used in feedback architectures that need to back propagate the control errors through the model (or network model) to adjust the neurocontroller. The resulting adaptive controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance with a small computational effort. Stability result for the adaptive neuro-control system is given. It is proved that control errors are ultimately bounded as a function of the approximation error of the RBF-NN. Experimental results show the practical feasibility and performance of the proposed approach to mobile robots. es_ES
dc.language Español es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Mobile robot control es_ES
dc.subject Nonlinear control es_ES
dc.subject Neural nets es_ES
dc.subject Dynamic control es_ES
dc.subject Robot móvil es_ES
dc.subject Control no lineal es_ES
dc.subject Redes neuronales es_ES
dc.subject Control adaptable es_ES
dc.subject Funciones de base radial es_ES
dc.title Control de Robots Móviles con Incertidumbres Dinámicas usando Redes de Base Radial es_ES
dc.title.alternative Adaptive Control for Mobile Robots with Uncertain Dynamics using Neural Networks es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/S1697-7912(10)70057-1
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Rossomando, FG.; Soria, C.; Carelli, R. (2010). Control de Robots Móviles con Incertidumbres Dinámicas usando Redes de Base Radial. Revista Iberoamericana de Automática e Informática industrial. 7(4):28-35. https://doi.org/10.1016/S1697-7912(10)70057-1 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.1016/S1697-7912(10)70057-1 es_ES
dc.description.upvformatpinicio 28 es_ES
dc.description.upvformatpfin 35 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 7 es_ES
dc.description.issue 4 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\8459 es_ES
dc.description.references M. K. Bugeja y S.G. Fabri, “Dual Adaptive Control for Trajectory Tracking of Mobile Robots”, IEEE ICRA, Roma, Italy, 10–14 April 2007. es_ES
dc.description.references Das, T., & Kar, I. N. (2006). Design and implementation of an adaptive fuzzy logic-based controller for wheeled mobile robots. IEEE Transactions on Control Systems Technology, 14(3), 501-510. doi:10.1109/tcst.2006.872536 es_ES
dc.description.references Martins, F. N., Celeste, W. C., Carelli, R., Sarcinelli-Filho, M., & Bastos-Filho, T. F. (2008). An adaptive dynamic controller for autonomous mobile robot trajectory tracking. Control Engineering Practice, 16(11), 1354-1363. doi:10.1016/j.conengprac.2008.03.004 es_ES


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