Wheeled mobile robot control based on SVM and nonlinear control laws

Abstract

Wheeled mobile robot control method based on SVM algorithm and nonlinear control laws is discussed in this paper. The control system includes two parts: nonlinear controller and SVM controller. Nonlinear controller's primary role is to obtain the desired velocity which can make the kinematics stable, SVM controller's primary role is to optimize the control parameters through on-line learning and track the desired velocity. The control method proposed in this paper is independent of the control object model, and has good generalization capability. Simulations illustrate quality and efficiency of this method. © 2011 Springer-Verlag.