Neural Petri Control: an application on a mobile robot

Francesco Maria Raimondi, Tommaso Raimondi

Risultato della ricerca: Other

2 Citazioni (Scopus)

Abstract

In the present work, an innovative nonlinear controller of nonholonomic mechanical systems, characterized by a dynamic not well known model a priori, using a new neural model obtained by the combination of a Petri net with a neural network, is proposed. The performances of the control algorithm are evaluated for tasks of tracking of time trajectories. The study of the stability of the total system to closed loop is based on the Lyapunov theory. Simulation experiments, made taking into consideration a nonholonomic mobile robot, to two wheels, allowed to verify the theoretical results.
Lingua originaleEnglish
Pagine151-158
Numero di pagine8
Stato di pubblicazionePublished - 2005

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Mobile robots
Petri nets
Wheels
Trajectories
Neural networks
Controllers
Experiments

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cita questo

Neural Petri Control: an application on a mobile robot. / Raimondi, Francesco Maria; Raimondi, Tommaso.

2005. 151-158.

Risultato della ricerca: Other

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AB - In the present work, an innovative nonlinear controller of nonholonomic mechanical systems, characterized by a dynamic not well known model a priori, using a new neural model obtained by the combination of a Petri net with a neural network, is proposed. The performances of the control algorithm are evaluated for tasks of tracking of time trajectories. The study of the stability of the total system to closed loop is based on the Lyapunov theory. Simulation experiments, made taking into consideration a nonholonomic mobile robot, to two wheels, allowed to verify the theoretical results.

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