Discrete-time neural control for electrically driven nonholonomic mobile robots

This paper presents the design of an adaptive controller based on the block control technique, and a new neural observer for a class of MIMO discrete-time nonlinear systems. The observer is based on a recurrent high-order neural network (RHONN), which estimates the state vectors of the unknown plant dynamics. The learning algorithm for the RHONN is based on an Extended Kaiman Filter (EKF). This paper also includes the respective stability analysis, using the Lyapunov approach, for the whole system, which includes the non-linear plant, the neural observer trained with the EKF and the block controller. Applicability of the proposed scheme is illustrated via simulation for a discrete-time nonlinear model of an electric induction motor. " 2007 IEEE.",,,,,,"10.1109/ISIC.2007.4450951",,,"http://hdl.handle.net/20.500.12104/40713","http://www.scopus.com/inward/record.url?eid=2-s2.0-41149108046&partnerID=40&md5=6f2ae6f0ded1255db5086a55c5ced2ea",,,,,,,,"22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control",,"58