Search results for: double loop PI controller

Authors: Ö. Tolga Altınöz

Abstract:

The adaptive backstepping controller for inverted pendulum is designed by using the general motion control model. Backstepping is a novel nonlinear control technique based on the Lyapunov design approach, used when higher derivatives of parameter estimation appear. For easy parameter adaptation, the mathematical model of the inverted pendulum converted into the motion control model. This conversion is performed by taking functions of unknown parameters and dynamics of the system. By using motion control model equations, inverted pendulum is simulated without any information about not only parameters but also measurable dynamics. Also these results are compare with the adaptive backstepping controller which extended with integral action that given from [1].

Keywords: Adaptive backstepping, inverted pendulum, nonlinear adaptive control.

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Authors: Fatemeh Karimi, Morteza Fathipour, Hamdam Ghanatian, Vala Fathipour

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In this paper electrical characteristics of various kinds of multiple-gate silicon nanowire transistors (SNWT) with the channel length equal to 7 nm are compared. A fully ballistic quantum mechanical transport approach based on NEGF was employed to analyses electrical characteristics of rectangular and cylindrical silicon nanowire transistors as well as a Double gate MOS FET. A double gate, triple gate, and gate all around nano wires were studied to investigate the impact of increasing the number of gates on the control of the short channel effect which is important in nanoscale devices. Also in the case of triple gate rectangular SNWT inserting extra gates on the bottom of device can improve the application of device. The results indicate that by using gate all around structures short channel effects such as DIBL, subthreshold swing and delay reduces.

Keywords: SNWT (silicon nanowire transistor), non equilibriumGreen's function (NEGF), double gate (DG), triple gate (TG), multiple gate, cylindrical nano wire (CW), rectangular nano wire(RW), Poisson_ Schrödinger solver, drain induced barrier lowering(DIBL).

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Authors: T. Sanches, K. Bousson

Abstract:

As part of the development of a 4D autopilot system for unmanned aerial vehicles (UAVs), i.e. a time-dependent robust trajectory generation and control algorithm, this work addresses the problem of optimal path control based on the flight sensors data output that may be unreliable due to noise on data acquisition and/or transmission under certain circumstances. Although several filtering methods, such as the Kalman-Bucy filter or the Linear Quadratic Gaussian/Loop Transfer Recover Control (LQG/LTR), are available, the utter complexity of the control system, together with the robustness and reliability required of such a system on a UAV for airworthiness certifiable autonomous flight, required the development of a proper robust filter for a nonlinear system, as a way of further mitigate errors propagation to the control system and improve its ,performance. As such, a nonlinear algorithm based upon the LQG/LTR, is validated through computational simulation testing, is proposed on this paper.

Keywords: Autonomous flight, LQG/LTR, nonlinear state estimator, robust flight control and stability.

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Authors: Norsinnira Zainul Azlan, Hiroshi Yamaura

Abstract:

This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive compensators and the uncertainties are represented by FAT, allowing the update law to be derived easily. The force error feedback is utilized in the estimation and the accurate knowledge of the environment parameters are not required by the algorithm. It is shown mathematically that the stability of the controller is guaranteed based on Lyapunov theory. Simulation results presented to demonstrate the validity of the proposed controller.

Keywords: Adaptive impedance control, Function Approximation Technique (FAT), impedance control, unknown environment position.

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Authors: Shiferaw R. Jufar, Rong F. Huang, Ching M. Hsu

Abstract:

The spreading characteristics of acoustically excited swirling double-concentric jets were studied experimentally. The central jet was acoustically excited at low and high pulsation intensities. A smoke wire flow visualization and a hot-wire anemometer velocity measurement results show that excitation forces a vortex ring to roll-up from the edge of the central tube during each excitation period. At low pulsation intensities, the vortex ring evolves downstream, and eventually breaks up into turbulent eddies. At high pulsation intensities, the primary vortex ring evolves and a series of trailing vortex rings form during the same period of excitation. The trailing vortex rings accelerate while evolving downstream and overtake the primary vortex ring within the same cycle. In the process, the primary vortex ring becomes unstable and breaks up early. The effect of the fast traveling trailing vortex rings combined with the swirl motion of the annular flow improve jet spreading compared with the naturally evolving jets.

Keywords: Acoustic excitation, double–concentric jets, flow control, swirling jet.

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Authors: Valerio D’Andrea

Abstract:

The GERmanium Detector Array (GERDA) experiment, located at the Laboratori Nazionali del Gran Sasso (LNGS) of INFN, searches for 0νββ of 76Ge. Germanium diodes enriched to ∼ 86 % in the double beta emitter 76Ge(enrGe) are exposed being both source and detectors of 0νββ decay. Neutrinoless double beta decay is considered a powerful probe to address still open issues in the neutrino sector of the (beyond) Standard Model of particle Physics. Since 2013, just after the completion of the first part of its experimental program (Phase I), the GERDA setup has been upgraded to perform its next step in the 0νββ searches (Phase II). Phase II aims to reach a sensitivity to the 0νββ decay half-life larger than 1026 yr in about 3 years of physics data taking. This exposing a detector mass of about 35 kg of enrGe and with a background index of about 10^−3 cts/(keV·kg·yr). One of the main new implementations is the liquid argon scintillation light read-out, to veto those events that only partially deposit their energy both in Ge and in the surrounding LAr. In this paper, the GERDA Phase II expected goals, the upgrade work and few selected features from the 2015 commissioning and 2016 calibration runs will be presented. The main Phase I achievements will be also reviewed.

Keywords: Gerda, double beta decay, germanium, LNGS.

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Authors: N. Popovich, P. Yan

Abstract:

In this paper a controller for the pitch angle of an aircraft regarding to the elevator deflection angle is designed. The way how the elevator angle affects pitching motion of the aircraft is pointed out, as well as, how a pitch controller can be applied for the aircraft to reach certain pitch angle. In this digital optimal system, the elevator deflection angle and pitching angle of the plane are considered to be input and output respectively. A single input single output (SISO) system is presented. A digital pitch aircraft control is demonstrated. A simulation for the whole system has been performed. The optimal control weighting vectors, Q and R have been determined.

Keywords: Aircraft, control, digital, optimal, Q and Rmatrices.

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Authors: M. Sedighizadeh, A. Rezazadeh

Abstract:

Movable power sources of proton exchange membrane fuel cells (PEMFC) are the important research done in the current fuel cells (FC) field. The PEMFC system control influences the cell performance greatly and it is a control system for industrial complex problems, due to the imprecision, uncertainty and partial truth and intrinsic nonlinear characteristics of PEMFCs. In this paper an adaptive PI control strategy using neural network adaptive Morlet wavelet for control is proposed. It is based on a single layer feed forward neural networks with hidden nodes of adaptive morlet wavelet functions controller and an infinite impulse response (IIR) recurrent structure. The IIR is combined by cascading to the network to provide double local structure resulting in improving speed of learning. The proposed method is applied to a typical 1 KW PEMFC system and the results show the proposed method has more accuracy against to MLP (Multi Layer Perceptron) method.

Keywords: Adaptive Control, Morlet Wavelets, PEMFC.

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Authors: Jaeho Han, Moonjung Kim, Won-Ho Kim, Chang-Ho Hyun

Abstract:

This paper introduces a high-gain observer based state of charge(SOC) estimator for lithium-Ion batteries. The proposed SOC estimator has a high-gain observer(HGO) structure. The HGO scheme enhances the transient response speed and diminishes the effect of uncertainties. Furthermore, it guarantees that the output feedback controller recovers the performance of the state feedback controller when the observer gain is sufficiently high. In order to show the effectiveness of the proposed method, the linear RC battery model in ADVISOR is used. The performance of the proposed method is compared with that of the conventional linear observer(CLO) and some simulation result is given.

Keywords: SOC, high-gain, observer, uncertainties, robust

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Authors: N C Santhosh Kumar, N K Kishore

Abstract:

Using mini modules of Tmotes, it is possible to automate a small personal area network. This idea can be extended to large networks too by implementing multi-hop routing. Linking the various Tmotes using Programming languages like Nesc, Java and having transmitter and receiver sections, a network can be monitored. It is foreseen that, depending on the application, a long range at a low data transfer rate or average throughput may be an acceptable trade-off. To reduce the overall costs involved, an optimum number of Tmotes to be used under various conditions (Indoor/Outdoor) is to be deduced. By analyzing the data rates or throughputs at various locations of Tmotes, it is possible to deduce an optimal number of Tmotes for a specific network. This paper deals with the determination of optimum distances to reduce the cost and increase the reliability of the entire sensor network with Wireless Local Loop (WLL) capability.

Keywords: Average throughput, data rate, multi-hop routing, optimum data transfer, throughput, Tmotes, wireless local loop.

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Authors: Peter Antwi Buah, Yingbin Zhang, Jianxian He, Chenlin Xiang, Delali Atsu Y. Bakah

Abstract:

Near-fault ground motions with velocity pulses are considered to cause significant damage to structures or slopes compared to ordinary ground motions without velocity pulses. The double pulsed pulse-like ground motion is well known to be stronger than the single pulse. This research has numerically justified this perspective by studying the dynamic response of a homogeneous rock slope subjected to four pulse-like and two non-pulse-like ground motions using the Fast Lagrangian Analysis of Continua in 3 Dimensions (FLAC3D) software. Two of the pulse-like ground motions just have a single pulse. The results show that near-fault ground motions with velocity pulses can cause a higher dynamic response than regular ground motions. The amplification of the peak ground acceleration (PGA) in horizontal direction increases with the increase of the slope elevation. The seismic response of the slope under double pulse ground motion is stronger than that of the single pulse ground motion. The PGV amplification factor under the effect of the non-pulse-like records is also smaller than those under the pulse-like records. The velocity pulse strengthens the earthquake damage to the slope, which results in producing a stronger dynamic response.

Keywords: Velocity pulses, dynamic response, PGV magnification effect, elevation effect, double pulse.

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Authors: Hsin-Yi Huang, Ming-Sheng Liu, Jiun-Yan Shiau

Abstract:

Planning the order picking lists for warehouses to achieve some operational performances is a significant challenge when the costs associated with logistics are relatively high, and it is especially important in e-commerce era. Nowadays, many order planning techniques employ supervised machine learning algorithms. However, to define features for supervised machine learning algorithms is not a simple task. Against this background, we consider whether unsupervised algorithms can enhance the planning of order-picking lists. A double zone picking approach, which is based on using clustering algorithms twice, is developed. A simplified example is given to demonstrate the merit of our approach.

Keywords: order picking, warehouse, clustering, unsupervised learning

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Authors: A. Bazoula, H. Maaref

Abstract:

In this article we address the problem of mobile robot formation control. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, we design an FLC (Fuzzy logic Controller) controller for separation and bearing control (SBC). Indeed, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the FSBC (Fuzzy Separation and Bearing Control) to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control law has been proven by simulation on different situation.

Keywords: Autonomous mobile robot, Formation control, Fuzzy logic control, Multiple robots, Leader-Follower.

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Authors: Keuk Jong Yu, Sang Hee Kang, Sung Chang You

Abstract:

In Korea, the technology of a load fo nuclear power plant has been being developed. automatic controller which is able to control temperature and axial power distribution was developed. identification algorithm and a model predictive contact former transforms the nuclear reactor status into numerically. And the latter uses them and ge manipulated values such as two kinds of control ro this automatic controller, the performance of a coperation was evaluated. As a result, the automatic generated model parameters of a nuclear react to nuclear reactor average temperature and axial power the desired targets during a daily load follow.

Keywords: axial power distribution, model reactor temperature, system identification

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Authors: A. Pajaziti, H. Cana

Abstract:

In this paper, the structural genetic algorithm is used to optimize the neural network to control the joint movements of robotic arm. The robotic arm has also been modeled in 3D and simulated in real-time in MATLAB. It is found that Neural Networks provide a simple and effective way to control the robot tasks. Computer simulation examples are given to illustrate the significance of this method. By combining Genetic Algorithm optimization method and Neural Networks for the given robotic arm with 5 D.O.F. the obtained the results shown that the base joint movements overshooting time without controller was about 0.5 seconds, while with Neural Network controller (optimized with Genetic Algorithm) was about 0.2 seconds, and the population size of 150 gave best results.

Keywords: Robotic Arm, Neural Network, Genetic Algorithm, Optimization.

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Authors: Ian A. Grout

Abstract:

In this paper, the design and development of a system to provide hand motion and gesture control of laboratory test equipment is considered and discussed. The Leap Motion controller is used to provide an input to control a laboratory power supply as part of an electronic circuit experiment. By suitable hand motions and gestures, control of the power supply is provided remotely and without the need to physically touch the equipment used. As such, it provides an alternative manner in which to control electronic equipment via a PC and is considered here within the field of human computer interaction (HCI).

Keywords: Control, hand gesture, human computer interaction, test equipment.

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Authors: S. Saravanan, G. Sugumaran

Abstract:

Nowadays the use of Hybrid Electric Vehicles (HEV) is increasing dramatically. The HEV is mainly dependent on electricity and there is always a need for storage of charge. Fuel Cell (FC), Batteries and Ultra Capacitor are being used for the proposed HEV as an electric power source or as an energy storage unit. The aim of developing an energy management technique is to utilize the sources according to the requirement of the vehicle with help of controller. This increases the efficiency of hybrid electric vehicle to reduce the fuel consumption and unwanted emission. The Maximum Power Point Tracking (MPPT) in FC is done using (Perturb & Observe) algorithm. In this paper, the control of automobiles at variable speed is achieved effectively.

Keywords: Batteries, Energy Management System (EMS), Fuel Cell (FC), Hybrid Electric Vehicles (HEVs), Maximum Power Point Tracking (MPPT).

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Authors: Sudeept Mohan, Surekha Bhanot

Abstract:

The problem of manipulator control is a highly complex problem of controlling a system which is multi-input, multioutput, non-linear and time variant. In this paper some adaptive fuzzy, and a new hybrid fuzzy control algorithm have been comparatively evaluated through simulations, for manipulator control. The adaptive fuzzy controllers consist of self-organizing, self-tuning, and coarse/fine adaptive fuzzy schemes. These controllers are tested for different trajectories and for varying manipulator parameters through simulations. Various performance indices like the RMS error, steady state error and maximum error are used for comparison. It is observed that the self-organizing fuzzy controller gives the best performance. The proposed hybrid fuzzy plus integral error controller also performs remarkably well, given its simple structure.

Keywords: Hybrid fuzzy, Self-organizing, Self-tuning, Trajectory tracking.

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Authors: Hassan Baghgar Bostan Abad, Ali Yazdian Varjani, Taheri Asghar

Abstract:

Variable speed drives are growing and varying. Drives expanse depend on progress in different part of science like power system, microelectronic, control methods, and so on. Artificial intelligent contains hard computation and soft computation. Artificial intelligent has found high application in most nonlinear systems same as motors drive. Because it has intelligence like human but there are no sentimental against human like angriness and.... Artificial intelligent is used for various points like approximation, control, and monitoring. Because artificial intelligent techniques can use as controller for any system without requirement to system mathematical model, it has been used in electrical drive control. With this manner, efficiency and reliability of drives increase and volume, weight and cost of them decrease.

Keywords: Artificial intelligent, electrical motor, intelligent drive and control,

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Authors: M. Ouassaid, A. Nejmi, M. Cherkaoui, M. Maaroufi

Abstract:

The very nonlinear nature of the generator and system behaviour following a severe disturbance precludes the use of classical linear control technique. In this paper, a new approach of nonlinear control is proposed for transient and steady state stability analysis of a synchronous generator. The control law of the generator excitation is derived from the basis of Lyapunov stability criterion. The overall stability of the system is shown using Lyapunov technique. The application of the proposed controller to simulated generator excitation control under a large sudden fault and wide range of operating conditions demonstrates that the new control strategy is superior to conventional automatic voltage regulator (AVR), and show very promising results.

Keywords: Excitation control, Lyapunov technique, non linearcontrol, synchronous generator, transient stability, voltage regulation.

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Authors: Inseok Yeo, Tae-Ho Song

Abstract:

To practically apply vacuum insulation panels (VIPs) to buildings or home appliances, VIPs have demanded long-term lifespan with outstanding insulation performance. Service lives of VIPs enveloped with Al-foil and three-layer Al-metallized envelope are calculated. For Al-foil envelope, the service life is longer but edge conduction is too large compared with the Al-metallized envelope. To increase service life even more, the proposed double enveloping method and metal-barrier-added enveloping method are further analyzed. The service lives of the VIP to employ two enveloping methods are calculated. Also, pressure increase and thermal insulation performance characteristics are investigated. For the metalbarrier- added enveloping method, effective thermal conductivity increase with time is close to that of Al-foil envelope, especially, for getter-inserted VIPs. For double enveloping method, if water vapor is perfectly adsorbed, the effect of service life enhancement becomes much greater. From these methods, the VIP can be guaranteed for service life of more than 20 years.

Keywords: Vacuum insulation panels, Service life, Double enveloping, Metal-barrier-added enveloping, Edge conduction.

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Authors: Mohammad Iman Mokhlespour Esfahani, Masoud Mosayebi, Mohammad Pourshams, Ahmad Keshavarzi

Abstract:

Simulation accuracy by recent dynamic vehicle simulation multidimensional expression significantly has progressed and acceptable results not only for passive vehicles but also for active vehicles normally equipped with advanced electronic components is also provided. Recently, one of the subjects that has it been considered, is increasing the safety car in design. Therefore, many efforts have been done to increase vehicle stability especially in the turn. One of the most important efforts is adjusting the camber angle in the car suspension system. Optimum control camber angle in addition to the vehicle stability is effective in the wheel adhesion on road, reducing rubber abrasion and acceleration and braking. Since the increase or decrease in the camber angle impacts on the stability of vehicles, in this paper, a car suspension system mechanism is introduced that could be adjust camber angle and the mechanism is application and also inexpensive. In order to reach this purpose, in this paper, a passive double wishbone suspension system with variable camber angle is introduced and then variable camber mechanism designed and analyzed for study the designed system performance, this mechanism is modeled in Visual Nastran software and kinematic analysis is revealed.

Keywords: Suspension molding, double wishbone, variablecamber, hydraulic mechanism

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Authors: Christopher Spiewak, M. R. Islam, Mohammad Arifur Rahaman, Mohammad H. Rahman, Roger Smith, Maarouf Saad

Abstract:

For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.

Keywords: Biorobotics, rehabilitation, nonlinear control, robotic assistive device, exoskeleton.

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Authors: Hamdy M. Youssef, Mowffaq Oreijah, Hunaydi S. Alsharif

Abstract:

In this paper, a three-dimensional model of the generalized thermoelasticity with one relaxation time and variable thermal conductivity has been constructed. The resulting non-dimensional governing equations together with the Laplace and double Fourier transforms techniques have been applied to a three-dimensional half-space subjected to thermal loading with rectangular pulse and traction free in the directions of the principle co-ordinates. The inverses of double Fourier transforms, and Laplace transforms have been obtained numerically. Numerical results for the temperature increment, the invariant stress, the invariant strain, and the displacement are represented graphically. The variability of the thermal conductivity has significant effects on the thermal and the mechanical waves.

Keywords: Thermoelasticity, three-dimensional, Laplace transforms, Fourier transforms, thermal conductivity.

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Authors: Abd Elrahman Elgamala, N. Darwish, I. Bondouk, Sh. Hamada

Abstract:

Available experimental angular distributions for ⁶Li elastically scattered from ¹⁶O nucleus in the energy range 13.0–50.0 MeV are investigated and reanalyzed using optical model of the conventional phenomenological potential and also using double folding optical model of different interaction models: DDM3Y1, CDM3Y1, CDM3Y2, and CDM3Y3. All the involved models of interaction are of M3Y Paris except DDM3Y1 which is of M3Y Reid and the main difference between them lies in the different values for the parameters of the incorporated density distribution function F(ρ). We have extracted the renormalization factor N_R for ⁶Li+¹⁶O nuclear system in the energy range 13.0–50.0 MeV using the aforementioned interaction models.

Keywords: Elastic scattering, optical model, folding potential, density distribution.

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Authors: Kazuki Murakami, Takashige Nakamura, Noriko Sakamoto, Kunio Aizawa

Abstract:

A Watson-Crick automaton is recently introduced as a computational model of DNA computing framework. It works on tapes consisting of double stranded sequences of symbols. Symbols placed on the corresponding cells of the double-stranded sequences are related by a complimentary relation. In this paper, we investigate a variation of Watson-Crick automata in which both heads read the tape in reverse directions. They are called reverse Watson-Crick finite automata (RWKFA). We show that all of following four classes, i.e., simple, 1-limited, all-final, all-final and simple, are equal to non-restricted version of RWKFA.

Keywords: automaton, DNA computing, formal languages, Watson-Crick automaton

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Authors: R. Prakash, B. Meenakshipriya, R. Kumaravelan

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This paper presents modeling and simulation of Grid Connected Photovoltaic (PV) system by using improved mathematical model. The model is used to study different parameter variations and effects on the PV array including operating temperature and solar irradiation level. In this paper stepped P&O algorithm is proposed for MPPT control. This algorithm will identify the suitable duty ratio in which the DC-DC converter should be operated to maximize the power output. Photo voltaic array with proposed stepped P&O-MPPT controller can operate in the maximum power point for the whole range of solar data (irradiance and temperature).

Keywords: Photovoltaic (PV), Maximum Power Point Tracking (MPPT), Boost converter, Stepped Perturb & Observe method (Stepped P&O).

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Authors: Sue-Yi Chen, Wei-Chun Hsu, Jon-Yiew Gan

Abstract:

Si-based double-junction tandem solar cells have become a popular research topic because of the advantages of low manufacturing cost and high energy conversion efficiency. However, there is no set of calculations to select the appropriate top cell materials. Therefore, this paper will propose a simple but practical selection method. First of all, we calculate the S-Q limit and explain the reasons for developing tandem solar cells. Secondly, we calculate the theoretical energy conversion efficiency of the double-junction tandem solar cells while combining the commercial monocrystalline Si and materials' practical efficiency to consider the actual situation. Finally, we conservatively conclude that if considering 75% performance of the theoretical energy conversion efficiency of the top cell, the suitable bandgap energy range will fall between 1.38 eV to 2.5 eV. Besides, we also briefly describe some improvements of several proper materials, CZTS, CdSe, Cu2O, ZnTe, and CdS, hoping that future research can select and manufacture high-efficiency Si-based tandem solar cells based on this paper successfully. Most importantly, our calculation method is not limited to silicon solely. If other materials’ performances match or surpass silicon's ability in the future, researchers can also apply this set of deduction processes.

Keywords: High-efficiency solar cells, material selection, Si-based double-junction solar cells, tandem solar cells, photovoltaics.

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Authors: Lei Yao, Jia Hao Cheong, Rui-Feng Xue, Minkyu Je

Abstract:

A closed-loop controlled wireless power transmission circuit block for implantable biomedical applications is described in this paper. The circuit consists of one front-end rectifier, power management sub-block including bandgap reference and low drop-out regulators (LDOs) as well as transmission power detection / feedback circuits. Simulation result shows that the front-end rectifier achieves 80% power efficiency with 750-mV single-end peak-to-peak input voltage and 1.28-V output voltage under load current of 4 mA. The power management block can supply 1.8mA average load current under 1V consuming only 12μW power, which is equivalent to 99.3% power efficiency. The wireless power transmission block described in this paper achieves a maximum power efficiency of 80%. The wireless power transmission circuit block is designed and implemented using UMC 65-nm CMOS/RF process. It occupies 1 mm × 1.2 mm silicon area.

Keywords: Implantable biomedical devices, wireless power transfer, LDO, rectifier, closed-loop power control

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Authors: Jasmin Velagic, Nedim Osmic, Bakir Lacevic

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In this paper the neural network-based controller is designed for motion control of a mobile robot. This paper treats the problems of trajectory following and posture stabilization of the mobile robot with nonholonomic constraints. For this purpose the recurrent neural network with one hidden layer is used. It learns relationship between linear velocities and error positions of the mobile robot. This neural network is trained on-line using the backpropagation optimization algorithm with an adaptive learning rate. The optimization algorithm is performed at each sample time to compute the optimal control inputs. The performance of the proposed system is investigated using a kinematic model of the mobile robot.

Keywords: Mobile robot, kinematic model, neural network, motion control, adaptive learning rate.

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