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Talks and Poster Presentations (with Proceedings-Entry):

M Seyr, S. Jakubek, G. Novak:
"Neural Network Predictive Trajectory Tracking of an Autonomous Two-Wheeled Mobile Robot";
Poster: 16th IFAC World Congress, Prag; 2005-07-03 - 2005-07-08; in: "Proceedings of the 16th IFAC World Congress", Elsevier, (2005).



English abstract:
As a prerequisite for precise trajectory tracking of a two-wheeled mobile robot, accurate control of the velocity and the curvature along a predefined trajectory is vital. After offline training, a neural network is used for nonlinear predictive control. To make the system more robust against modeling inaccuracies and other disturbance influences, the control error is integrated and used to adjust the control variables calculated by the predictor.

German abstract:
As a prerequisite for precise trajectory tracking of a two-wheeled mobile robot, accurate control of the velocity and the curvature along a predefined trajectory is vital. After offline training, a neural network is used for nonlinear predictive control. To make the system more robust against modeling inaccuracies and other disturbance influences, the control error is integrated and used to adjust the control variables calculated by the predictor.


Electronic version of the publication:
http://publik.tuwien.ac.at/files/pub-mb_4369.pdf



Related Projects:
Project Head Stefan Jakubek:
Regelungs- und Trackingalgorithmen für m


Created from the Publication Database of the Vienna University of Technology.