A Proposed Neural Control for the Trajectory Tracking of a Nonholonomic Mobile Robot with Disturbances

Autor:	Warody C. Lombardi, Maycol de Alencar, Douglas Wildgrube Bertol, Nardênio Almeida Martins, Humberto Ferasoli Filho, Edson Roberto De Pieri
Rok vydání:	2012
Předmět:	Lyapunov function Variable structure control Artificial neural network Computer science media_common.quotation_subject Mobile robot Kinematics Inertia Sliding mode control Computer Science::Robotics symbols.namesake Control theory Trajectory symbols Torque Nonholonomic mobile robot media_common
Zdroj:	Artificial Neural Networks and Machine Learning – ICANN 2012 ISBN: 9783642332685 ICANN (1)
DOI:	10.1007/978-3-642-33269-2_42
Popis:	In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains disturbances. The KNC is a variable structure controller (VSC) based on the sliding mode control theory (SMC), and applied to compensate the kinematic disturbances. The TNC is a inertia-based controller constituted of a dynamic neural controller (DNC) and a robust neural compensator (RNC), and applied to compensate the mobile robot dynamics, and bounded unknown disturbances. Stability analysis with basis on Lyapunov method and simulations results are provided to show the effectiveness of the proposed approach.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::258b3da1e69a25713c538f7fc84ea478 https://doi.org/10.1007/978-3-642-33269-2_42 Zobrazit plný text záznamu