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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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.
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Keyword(in English) nonholonomic system / genetic algorithm / neuro controller / two-wheel vehicle
Paper # NC2005-27
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Committee NC
Conference Date 2005/6/17(1days)
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Language JPN
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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