A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

Detalhes bibliográficos
Autor(a) principal: Martins, Nardênio A.
Data de Publicação: 2012
Outros Autores: De Alencar, Maycol, Lombardi, Warody C., Bertol, Douglas W., De Pieri, Edson R., Filho, Humberto F. [UNESP]
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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spelling 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
_version_ 1808129503839387648

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