| Presentation | 2005/6/17 Design of nonholonomic control system using neuro controller evoloved by GA training Norikazu OGINO, Hiroshi KINJO, Eiho UEZATO, Tetsuhiko YAMAMOTO, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this paper, we propose a design method of neuro control regulator for a two-wheel vehicle optimized by genetic algorithms. The two-wheel vehicle is known to be a class of nonholonomic system. For the nonholonomic system, many control methods are utilizing for a chained form and applying the linear control methods. In this paper, we propose a design method for the nonholonomic system controller without the chained forms. The controller is using the neural network controller (NC). The training method of the NC is utilizing genetic algorithm. Simulation shows that the NC trained by GA has good controll performance for the two-wheel vehicle. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | nonholonomic system / genetic algorithm / neuro controller / two-wheel vehicle |
| Paper # | NC2005-27 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2005/6/17(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Design of nonholonomic control system using neuro controller evoloved by GA training |
| Sub Title (in English) | |
| Keyword(1) | nonholonomic system |
| Keyword(2) | genetic algorithm |
| Keyword(3) | neuro controller |
| Keyword(4) | two-wheel vehicle |
| 1st Author's Name | Norikazu OGINO |
| 1st Author's Affiliation | Graduate School of Engineering and Science, University of the Ryukyus() |
| 2nd Author's Name | Hiroshi KINJO |
| 2nd Author's Affiliation | Facutly of Engineering, University of the Ryukyus |
| 3rd Author's Name | Eiho UEZATO |
| 3rd Author's Affiliation | Facutly of Engineering, University of the Ryukyus |
| 4th Author's Name | Tetsuhiko YAMAMOTO |
| 4th Author's Affiliation | Facutly of Engineering, University of the Ryukyus |
| Date | 2005/6/17 |
| Paper # | NC2005-27 |
| Volume (vol) | vol.105 |
| Number (no) | 131 |
| Page | pp.pp.- |
| #Pages | 4 |
| Date of Issue | |