Neuro-robust control of leader-follower system of mobile agents
Abstract
In this work applying output feedback linearization, a neuro-robust controller based on a recurrent high-order neural network is proposed, applied to differential drive mobile robot tracking. The tracking is done on the the wheels angular velocities. The strategy consists in desing a linearizing controller and an estimator based on neural networks for the parametric uncertainties and possible discrepancies in the model. In this way only angular velocities are required as output variables. A numerical simulation is presented to illustrate the proposal.
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References
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