Ahmad Sharbafi, M., Lucas, C., Mohammadinejad, A. (2010). Using BELBIC based optimal controller for omni-directional threewheel
robots model identified by LOLIMOT. Journal of Computer & Robotics, 1(1), -.
Maziar Ahmad Sharbafi; Caro Lucas; Aida Mohammadinejad. "Using BELBIC based optimal controller for omni-directional threewheel
robots model identified by LOLIMOT". Journal of Computer & Robotics, 1, 1, 2010, -.
Ahmad Sharbafi, M., Lucas, C., Mohammadinejad, A. (2010). 'Using BELBIC based optimal controller for omni-directional threewheel
robots model identified by LOLIMOT', Journal of Computer & Robotics, 1(1), pp. -.
Ahmad Sharbafi, M., Lucas, C., Mohammadinejad, A. Using BELBIC based optimal controller for omni-directional threewheel
robots model identified by LOLIMOT. Journal of Computer & Robotics, 2010; 1(1): -.
Using BELBIC based optimal controller for omni-directional threewheel
robots model identified by LOLIMOT
Receive Date: 25 February 2010,
Accept Date: 25 February 2010
Abstract
In this paper, an intelligent controller is applied to control omni-directional robots motion. First, the dynamics of the three wheel robots, as a nonlinear plant with considerable uncertainties, is identified using an efficient algorithm of training, named LoLiMoT. Then, an
intelligent controller based on brain emotional learning algorithm is applied to the identified model. This emotional learning is based on a computational model of limbic system in the mammalian brain. The Brain Emotional Learning Based Intelligent Controller (BELBIC),
using the concept of LQR control is adopted for the omni-directional robots. The performance of this multi objective control is illustrated with simulation results based on real world data. This approach can be utilized directly to the robots in the future.
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