TWO-WHEELED VEHICLE CONTROL USING NEURAL NETWORK AND DIFFERENTIAL EVOLUTION

Bruno Luiz Pereira¹; Marcus Romano S. B. Souza²; Rosiane R. Rocha³; José J. P. Z. S. Tavares¹

¹ Universidade Federal de Uberlândia; ² Centro Universitário de Patos de Minas; ³ Instituto Federal do Espírito Santo

Resumo

This paper aims to present the obtainment of a neural network model of a two-wheeled vehicle. It is trained given a data set extracted during the movement of the robot controlled by an experimentally tuned proportional integral derivative controller. This work also shows the simulation of the predictive control to be applied on it based on the model and the modified differential evolution algorithm developed.

Palavras-chave: Modified Differential Evolution; Neural Network; Two-Wheeled Vehicle; Predictive Control