Neural Network Compensation Method for Path Tracking Control of a Spherical Mobile Robot

Abstract:

This paper presents a neural network compensation strategy for the path tracking control of a spherical mobile robot BHQ-2 including a pendulum with two degrees of freedom. Based on our previous work, we propose a simplified method to decompose the dynamics model of BHQ-2 to be two sub-dynamics models. Applying the fuzzy guidance control method and a neural network compensation strategy, a path tracking controller for robot BHQ-2 is designed.

• Periodical: Applied Mechanics and Materials (Volumes 635-637)
• Pages: 1325-1328
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.635-637.1325
• Online since: September 2014
• Authors: Yao Cai*, Feng Gao, Ze Ning Liu
• Keywords: Neural Network (NN), Path Tracking, Spherical Mobile Robot

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