Robotic Agent Control Based on Adaptive Intelligent Algorithm in Ubiquitous Networks

The aim of this paper is to investigate a control method for robotic agent, operating in ubiquitous network. It is difficult for people to fulfill their tasks under dynamically changing environment. Therefore, robotic agent performs tasks in stead of people. The ubiquitous network makes it possible to connect between robotic agent and people. Because robotic agent should fulfill tasks according to the received commands from people, the adaptive control method for the agent is needed in order to do the given tasks properly. This paper introduces an adaptive tracking control method for robotic agent based on the radial based functions network (RBFN). When some commands are received through networks, the proposed method can make robotic agent possible to perform tasks under dynamically changing environment. Experimental results show that the proposed control method based on RBFN is adaptable to the environment changes and is more robust than the conventional PID control method and the neuro-control method based on the multilayer perceptron.