Browsing by Author 2013 10th IEEE International Conference on Control and Automation (ICCA) Hangzhou, China, June 12-14, 2013

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  • Authors: Tran, Thuan Hoang; Nguyen, Van Tinh; Pham, Minh Tuan; Pham, Thuong Cat (2013)

  • This paper proposes a novel control algorithm for the mobile robot with nonholonomic constraint. The algorithm consists of two control loops: one is based on the kinematics and Lyapunov theory to derive the control laws for the tangent and angular velocities to control the robot to follow a target trajectory, the other controls the robot dynamic based on the moment method in which a neural network namely RBFNN is introduced to compensate the uncertainty of dynamic parameters. The convergence of the estimators based on RBFNN of Stone-Weierstrass is proven. The asymptotically stabilization of the whole system is confirmed by direct Lyapunov stabilization theory. The effectiveness of th...

Browsing by Author 2013 10th IEEE International Conference on Control and Automation (ICCA) Hangzhou, China, June 12-14, 2013

Jump to: 0-9 A B C D E F G H I J K L M N O P Q R S T U V W X Y Z
or enter first few letters:  
Showing results 1 to 1 of 1
  • 1775.pdf.jpg
  • Conference Paper


  • Authors: Tran, Thuan Hoang; Nguyen, Van Tinh; Pham, Minh Tuan; Pham, Thuong Cat (2013)

  • This paper proposes a novel control algorithm for the mobile robot with nonholonomic constraint. The algorithm consists of two control loops: one is based on the kinematics and Lyapunov theory to derive the control laws for the tangent and angular velocities to control the robot to follow a target trajectory, the other controls the robot dynamic based on the moment method in which a neural network namely RBFNN is introduced to compensate the uncertainty of dynamic parameters. The convergence of the estimators based on RBFNN of Stone-Weierstrass is proven. The asymptotically stabilization of the whole system is confirmed by direct Lyapunov stabilization theory. The effectiveness of th...