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Mathematical Problems in Engineering
Volume 2015, Article ID 347410, 12 pages
Research Article

Real-Time Inverse Optimal Neural Control for Image Based Visual Servoing with Nonholonomic Mobile Robots

Computer Science Department, CUCEI, University of Guadalajara, 44430 Guadalajara, JAL, Mexico

Received 1 November 2014; Revised 21 January 2015; Accepted 21 January 2015

Academic Editor: Luis Rodolfo Garcia Carrillo

Copyright © 2015 Carlos López-Franco et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We present an inverse optimal neural controller for a nonholonomic mobile robot with parameter uncertainties and unknown external disturbances. The neural controller is based on a discrete-time recurrent high order neural network (RHONN) trained with an extended Kalman filter. The reference velocities for the neural controller are obtained with a visual sensor. The effectiveness of the proposed approach is tested by simulations and real-time experiments.