期刊文献+
共找到2篇文章
< 1 >
每页显示 20 50 100
Learning control of nonhonolomic robot based on support vector machine
1
作者 冯勇 葛运建 +1 位作者 曹会彬 孙玉香 《Journal of Central South University》 SCIE EI CAS 2012年第12期3400-3406,共7页
A learning controller of nonhonolomic robot in real-time based on support vector machine(SVM)is presented.The controller includes two parts:one is kinematic controller based on nonlinear law,and the other is dynamic c... A learning controller of nonhonolomic robot in real-time based on support vector machine(SVM)is presented.The controller includes two parts:one is kinematic controller based on nonlinear law,and the other is dynamic controller based on SVM.The kinematic controller is aimed to provide desired velocity which can make the steering system stable.The dynamic controller is aimed to transform the desired velocity to control torque.The parameters of the dynamic system of the robot are estimated through SVM learning algorithm according to the training data of sliding windows in real time.The proposed controller can adapt to the changes in the robot model and uncertainties in the environment.Compared with artificial neural network(ANN)controller,SVM controller can converge to the reference trajectory more quickly and the tracking error is smaller.The simulation results verify the effectiveness of the method proposed. 展开更多
关键词 nonhonolomic robot learning control support vector machine nonlinear control law dynamic control
下载PDF
A FIELD METHOD FOR INTEGRATING THE EQUATIONS OF MOTION OF NONHOLONOMIC CONTROLLABLE SYSTEMS
2
作者 梅凤翔 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 1992年第2期181-187,共7页
This paper presents a field method for integrating the equations of motion of nonholonomic controllable systems. An example is given to illustrate the application of the method.
关键词 equation of motion nonhonolomic system controllable system field method
下载PDF
上一页 1 下一页 到第
使用帮助 返回顶部