A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances
Autor(a) principal: | |
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Data de Publicação: | 2012 |
Outros Autores: | , , , , |
Tipo de documento: | Artigo de conferência |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://dx.doi.org/10.1007/978-3-642-33269-2_42 http://hdl.handle.net/11449/73675 |
Resumo: | 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. © 2012 Springer-Verlag. |
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A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbancesLyapunov theoryneural networksNonholonomic mobile robotsliding mode control theorytrajectory trackingvariable structure controlBounded unknown disturbancesDynamic neural controllersLyapunov theoriesMobile robot dynamicsNeural controlNeural controllerNon-holonomic mobile robotsStability analysisTrajectory trackingTrajectory tracking controlVariable structure controllerKinematicsLyapunov methodsNeural networksSliding mode controlVariable structure controlMobile robotsIn 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. © 2012 Springer-Verlag.Universidade Estadual de Maringá Departamento de Informática, Avenida Colombo, 5790, Maringá, PR 87020-900Lyon Université INSA - Institut National des Sciences Appliquées, 20, avenue Albert Einstein, Villeurbanne Cedex 69621Universidade Federal de Santa Catarina Departamento de Automação e Sistemas Grupo de Pesquisa Robótica, C.P. 476, Florianópolis, SC 88040-900Faculdade de Ciências Departamento de Computação Universidade Estadual Paulista Júlio de Mesquita Filho, Av. Luiz E.C. Coube C.P. 473, Bauru, SP 17033-360Faculdade de Ciências Departamento de Computação Universidade Estadual Paulista Júlio de Mesquita Filho, Av. Luiz E.C. Coube C.P. 473, Bauru, SP 17033-360Universidade Estadual de Maringá (UEM)INSA - Institut National des Sciences AppliquéesUniversidade Federal de Santa Catarina (UFSC)Universidade Estadual Paulista (Unesp)Martins, Nardênio A.De Alencar, MaycolLombardi, Warody C.Bertol, Douglas W.De Pieri, Edson R.Filho, Humberto F. [UNESP]2014-05-27T11:27:06Z2014-05-27T11:27:06Z2012-10-25info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject330-338http://dx.doi.org/10.1007/978-3-642-33269-2_42Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 7552 LNCS, n. PART 1, p. 330-338, 2012.0302-97431611-3349http://hdl.handle.net/11449/7367510.1007/978-3-642-33269-2_422-s2.0-84867662672Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)0,295info:eu-repo/semantics/openAccess2024-04-23T16:11:33Zoai:repositorio.unesp.br:11449/73675Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T23:17:04.373956Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances |
title |
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances |
spellingShingle |
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances Martins, Nardênio A. Lyapunov theory neural networks Nonholonomic mobile robot sliding mode control theory trajectory tracking variable structure control Bounded unknown disturbances Dynamic neural controllers Lyapunov theories Mobile robot dynamics Neural control Neural controller Non-holonomic mobile robots Stability analysis Trajectory tracking Trajectory tracking control Variable structure controller Kinematics Lyapunov methods Neural networks Sliding mode control Variable structure control Mobile robots |
title_short |
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances |
title_full |
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances |
title_fullStr |
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances |
title_full_unstemmed |
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances |
title_sort |
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances |
author |
Martins, Nardênio A. |
author_facet |
Martins, Nardênio A. De Alencar, Maycol Lombardi, Warody C. Bertol, Douglas W. De Pieri, Edson R. Filho, Humberto F. [UNESP] |
author_role |
author |
author2 |
De Alencar, Maycol Lombardi, Warody C. Bertol, Douglas W. De Pieri, Edson R. Filho, Humberto F. [UNESP] |
author2_role |
author author author author author |
dc.contributor.none.fl_str_mv |
Universidade Estadual de Maringá (UEM) INSA - Institut National des Sciences Appliquées Universidade Federal de Santa Catarina (UFSC) Universidade Estadual Paulista (Unesp) |
dc.contributor.author.fl_str_mv |
Martins, Nardênio A. De Alencar, Maycol Lombardi, Warody C. Bertol, Douglas W. De Pieri, Edson R. Filho, Humberto F. [UNESP] |
dc.subject.por.fl_str_mv |
Lyapunov theory neural networks Nonholonomic mobile robot sliding mode control theory trajectory tracking variable structure control Bounded unknown disturbances Dynamic neural controllers Lyapunov theories Mobile robot dynamics Neural control Neural controller Non-holonomic mobile robots Stability analysis Trajectory tracking Trajectory tracking control Variable structure controller Kinematics Lyapunov methods Neural networks Sliding mode control Variable structure control Mobile robots |
topic |
Lyapunov theory neural networks Nonholonomic mobile robot sliding mode control theory trajectory tracking variable structure control Bounded unknown disturbances Dynamic neural controllers Lyapunov theories Mobile robot dynamics Neural control Neural controller Non-holonomic mobile robots Stability analysis Trajectory tracking Trajectory tracking control Variable structure controller Kinematics Lyapunov methods Neural networks Sliding mode control Variable structure control Mobile robots |
description |
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. © 2012 Springer-Verlag. |
publishDate |
2012 |
dc.date.none.fl_str_mv |
2012-10-25 2014-05-27T11:27:06Z 2014-05-27T11:27:06Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/conferenceObject |
format |
conferenceObject |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://dx.doi.org/10.1007/978-3-642-33269-2_42 Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 7552 LNCS, n. PART 1, p. 330-338, 2012. 0302-9743 1611-3349 http://hdl.handle.net/11449/73675 10.1007/978-3-642-33269-2_42 2-s2.0-84867662672 |
url |
http://dx.doi.org/10.1007/978-3-642-33269-2_42 http://hdl.handle.net/11449/73675 |
identifier_str_mv |
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 7552 LNCS, n. PART 1, p. 330-338, 2012. 0302-9743 1611-3349 10.1007/978-3-642-33269-2_42 2-s2.0-84867662672 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 0,295 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
330-338 |
dc.source.none.fl_str_mv |
Scopus reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
institution |
UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
repository.name.fl_str_mv |
Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
repository.mail.fl_str_mv |
|
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1808129503839387648 |