Neural Network Control for the Linear Motion of a Spherical Mobile Robot

This paper discussed the stabilization and position tracking control of the linear motion of an underactuated spherical robot. By considering the actuator dynamics, a complete dynamic model of the robot is deduced, which is a complex third order, two variables nonlinear differential system and those...

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Bibliografiske detaljer
Main Authors: Yao Cai, Qiang Zhan, Xi Xi
Format: Artigo
Sprog:Inglês
Udgivet: SAGE Publishing 2011-09-01
Serier:International Journal of Advanced Robotic Systems
Fag:
Spherical robot
Underactuated
Actuator dynamics
Neural network controller
CMAC
Online adgang:http://www.intechopen.com/articles/show/title/neural_network_control_for_the_linear_motion_of_a_spherical_mobile_robot
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