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Adaptive Critic Neural Networks for Identification of Wheeled Mobile Robot

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Artificial Intelligence and Soft Computing – ICAISC 2006 (ICAISC 2006)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 4029))

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Abstract

A new applications of adaptive critic identifier for wheeled mobile robot is presented. In this approach the architecture of adaptive critic identifier contains a neural network (NN) based adaptive critic element (ACE) generating the reinforcement signal to tune the associative search element (ASE), which is applied to approximate nonlinear functions of the mobile robot. The proposed system identification that can guarantee tracking performance and stability is derived from the Lyapunov stability theory. Computer simulation have been conducted to illustrate the performance of the proposed solution by a series of experiments on the emulator of wheeled mobile robot Pioneer-2DX.

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Author information

Authors and Affiliations

  1. Department of Applied Mechanics and Robotics, Rzeszow University of Technology, Powstancow Warszwy 8, 35-959, Rzeszow, Poland

    Zenon Hendzel

Authors
  1. Zenon Hendzel
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Editor information

Editors and Affiliations

  1. Department of Artificial Intelligence, Academy of Humanities and Economics, Poland

    Leszek Rutkowski

  2. Institute of Automatics, AGH University of Science and Technology, Al. Mickiewicza 30, PL-30-059, Kraków, Poland

    Ryszard Tadeusiewicz

  3. Department of Electrical Engineering and Computer Sciences, Berkeley Initiative in Soft Computing (BISC), University of California, 94720-1776, Berkeley, CA, USA

    Lotfi A. Zadeh

  4. Department of Electrical Engineering, University of Louisville, 40292, Louisville, KY, U.S.A

    Jacek M. Żurada

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© 2006 Springer-Verlag Berlin Heidelberg

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Hendzel, Z. (2006). Adaptive Critic Neural Networks for Identification of Wheeled Mobile Robot. In: Rutkowski, L., Tadeusiewicz, R., Zadeh, L.A., Żurada, J.M. (eds) Artificial Intelligence and Soft Computing – ICAISC 2006. ICAISC 2006. Lecture Notes in Computer Science(), vol 4029. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11785231_81

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  • DOI: https://doi.org/10.1007/11785231_81

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-35748-3

  • Online ISBN: 978-3-540-35750-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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