[基于多传感器的鲁棒神经模糊控制在移动机械手动态避障中的应用]JeenBoscoMBEDE

【基於多传感器的鲁棒神经模糊控制在移动机械手动态避障中的应用】JeenBoscoMBEDE.pdfADissertationsubmitted toHuazhongUniversityof Science and Technology for the degree of Doctorof PhilosophyinEngineering ROBUSTNEURO-FUZZYMULTISENSOR-BASED MOTIONCONTROLAMONGDYNAMICOBSTACLES FORELECTRICALLYDRIVENMOBILE MANIPULATOR Ph.D.华中理工大学博士学位论文 I am grateful alsofor thefinancial support provided byFellowshipsfrom the Chinese StateCommitteeofEducation.ColleaguesfromtheIntelligentControlandRoboticsLaboratorydeservementionfor their contribution tothiswork.Inaddition tohiswell-known expertiseinmobile robotics,Dr.华中理工大学博士学位论文 Abstract Thisthesisfocusesonintelligentmotionplanningbasedonfuzzyrulesin unstructuredenvironmentcontaining dynamicandunknownobstacles,stabilization(overturn prevention)and control,taking into accountactuator dynamics in the modelisationofaroboticarmmountedonanonholonomicmobileplatform.
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