Page 273 - Autonomous Mobile Robots

Adaptive Neural-Fuzzy Control of Mobile Robots 259

3
x c
2
y c
1 u
0
.
–1
States x c
–2
.
y c
–3
.
–4 u
–5

–6
0 0.5 1 1.5 2 2.5 3
Time (sec)

FIGURE 6.1 Responses of the states of the system.
20

15
10
5 t 1
Torques (N/m) – 10 0 t 2

– 5

– 15
20
– 25
– 30
0 0.5 1 1.5 2 2.5 3
Time (sec)

FIGURE 6.2 Control torques of the mobile robot.

The simulation results are shown in Figure 6.1 to Figure 6.5, among which,
Figure 6.1 shows that the system’s states response, including x c , y c , θ, ˙x c ,
˙ y c , and ˙ θ, are all bounded, and the control torques are bounded as can be
seen in Figure 6.2. The estimates of the NN weights are shown to be bounded

© 2006 by Taylor & Francis Group, LLC

FRANKL: “dk6033_c006” — 2006/3/31 — 16:42 — page 259 — #31