"A differentially steered nonholonomic mobile robot platform has been fabricated to implement and validate nonlinear control laws. The platform can also be used to validate hierarchical cooperative control techniques. As a first step towards building a fleet of autonomous robots, novel control methods are developed and implemented on the robot platform for trajectory tracking as well as point stabilization. As an extension to the development of nonlinear controllers, a novel reinforcement learning based neural network is developed to control a manipulation task for a micro-electro-mechanical system (MEMS). The nonlinear controllers developed for both the robot and the MEMS have online neural networks to compensate for the unknown nonlinear system dynamics"--Abstract, page iv.
Sarangapani, Jagannathan, 1965-
Balakrishnan, S. N.
Agarwal, Sanjeev, 1971-
Electrical and Computer Engineering
M.S. in Electrical Engineering
Intelligent Systems Center
University of Missouri--Rolla
Journal article titles appearing in thesis/dissertation
- Control of a nonholonomic mobile robot
- Neural network controller for manipulation of microscale objects
viii, 42 pages
© 2005 Vijayakumar Janardhan, All rights reserved.
Thesis - Restricted Access
Neural networks (Computer science)
Robots -- Control systems
Nonholonomic dynamical systems
Print OCLC #
Link to Catalog Record
Electronic access to the full-text of this document is restricted to Missouri S&T users. Otherwise, request this publication directly from Missouri S&T Library or contact your local library.http://merlin.lib.umsystem.edu/record=b5639120~S5
Janardhan, Vijayakumar, "Design and implementation of controllers for a class of electromechanical systems" (2005). Masters Theses. 5833.
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