Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural control
Autor(a) principal: | |
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Data de Publicação: | 2015 |
Outros Autores: | , , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://hdl.handle.net/11449/228309 |
Resumo: | This paper analyses a trajectory tracking control problem for a wheeled mobile robot, using integration of a kinematic neural controller (KNC) and a torque neural controller (TNC), in which both the kinematic and dynamic models contain uncertainties and disturbances. The proposed adaptive neural controller (PANC) is composed of the KNC and the TNC and is designed with use of a modeling technique of Gaussian radial basis function neural networks (RBFNNs). The KNC is a variable structure controller, based on the sliding mode theory and is applied to compensate for the disturbances of the wheeled mobile robot kinematics. The TNC is an inertia-based controller composed of a dynamic neural controller (DNC) and a robust neural compensator (RNC) applied to compensate for the wheeled mobile robot dynamics, bounded unknown disturbances, and neural network modeling errors. To minimize the problems found in practical implementations of the classical variable structure controllers (VSC) and sliding mode controllers (SMC), and to eliminate the chattering phenomenon, the nonlinear and continuous KNC and RNC of the TNC are applied in lieu of the discontinuous components of the control signals that are present in classical forms. Additionally, the PANC neither requires the knowledge of the wheeled mobile robot kinematics and dynamics nor the timeconsuming training process. Stability analysis, convergence of the tracking errors to zero, and the learning algorithms for the weights are guaranteed based on the Lyapunov method. Simulation results are provided to demonstrate the effectiveness of the proposed approach. |
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Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural controlDynamic controlKinematic controlLyapunov theoryNeural networksSliding mode theoryTrajectory trackingVariable structure controlWheeled mobile robotThis paper analyses a trajectory tracking control problem for a wheeled mobile robot, using integration of a kinematic neural controller (KNC) and a torque neural controller (TNC), in which both the kinematic and dynamic models contain uncertainties and disturbances. The proposed adaptive neural controller (PANC) is composed of the KNC and the TNC and is designed with use of a modeling technique of Gaussian radial basis function neural networks (RBFNNs). The KNC is a variable structure controller, based on the sliding mode theory and is applied to compensate for the disturbances of the wheeled mobile robot kinematics. The TNC is an inertia-based controller composed of a dynamic neural controller (DNC) and a robust neural compensator (RNC) applied to compensate for the wheeled mobile robot dynamics, bounded unknown disturbances, and neural network modeling errors. To minimize the problems found in practical implementations of the classical variable structure controllers (VSC) and sliding mode controllers (SMC), and to eliminate the chattering phenomenon, the nonlinear and continuous KNC and RNC of the TNC are applied in lieu of the discontinuous components of the control signals that are present in classical forms. Additionally, the PANC neither requires the knowledge of the wheeled mobile robot kinematics and dynamics nor the timeconsuming training process. Stability analysis, convergence of the tracking errors to zero, and the learning algorithms for the weights are guaranteed based on the Lyapunov method. Simulation results are provided to demonstrate the effectiveness of the proposed approach.Universidade Estadual de Maringá Departamento de Informática, Avenida Colombo, 5790Lyon Université INSA - Institut National des Sciences Appliquées, 20, avenue Albert EinsteinUniversidade Federal de Santa Catarina Departamento de Automãçao e Sistemas Programa de Pós-Graduãçao em Engenharia de Automãçao e Sistemas, Caixa Postal 476Universidade Estadual Paulista Júlio de Mesquita Filho Faculdade de Ciências Departamento de Computãçao, Avenida Luiz Edmundo Carrijo Coube, Caixa Postal 473Universidade Estadual Paulista Júlio de Mesquita Filho Faculdade de Ciências Departamento de Computãçao, Avenida Luiz Edmundo Carrijo Coube, Caixa Postal 473Universidade Estadual de Maringá (UEM)INSA - Institut National des Sciences AppliquéesUniversidade Federal de Santa Catarina (UFSC)Universidade Estadual Paulista (UNESP)Martins, Nardênio AlmeidaDe Alencar, MaycolLombardi, Warody ClaudineiBertol, Douglas WildgrubeDe Pieri, Edson RobertoFilho, Humberto Ferasoli [UNESP]2022-04-29T08:03:54Z2022-04-29T08:03:54Z2015-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/article47-98Control and Cybernetics, v. 44, n. 1, p. 47-98, 2015.0324-8569http://hdl.handle.net/11449/2283092-s2.0-85018222508Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengControl and Cyberneticsinfo:eu-repo/semantics/openAccess2024-04-23T16:11:01Zoai:repositorio.unesp.br:11449/228309Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-06T00:12:51.255366Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural control |
title |
Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural control |
spellingShingle |
Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural control Martins, Nardênio Almeida Dynamic control Kinematic control Lyapunov theory Neural networks Sliding mode theory Trajectory tracking Variable structure control Wheeled mobile robot |
title_short |
Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural control |
title_full |
Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural control |
title_fullStr |
Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural control |
title_full_unstemmed |
Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural control |
title_sort |
Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural control |
author |
Martins, Nardênio Almeida |
author_facet |
Martins, Nardênio Almeida De Alencar, Maycol Lombardi, Warody Claudinei Bertol, Douglas Wildgrube De Pieri, Edson Roberto Filho, Humberto Ferasoli [UNESP] |
author_role |
author |
author2 |
De Alencar, Maycol Lombardi, Warody Claudinei Bertol, Douglas Wildgrube De Pieri, Edson Roberto Filho, Humberto Ferasoli [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 Almeida De Alencar, Maycol Lombardi, Warody Claudinei Bertol, Douglas Wildgrube De Pieri, Edson Roberto Filho, Humberto Ferasoli [UNESP] |
dc.subject.por.fl_str_mv |
Dynamic control Kinematic control Lyapunov theory Neural networks Sliding mode theory Trajectory tracking Variable structure control Wheeled mobile robot |
topic |
Dynamic control Kinematic control Lyapunov theory Neural networks Sliding mode theory Trajectory tracking Variable structure control Wheeled mobile robot |
description |
This paper analyses a trajectory tracking control problem for a wheeled mobile robot, using integration of a kinematic neural controller (KNC) and a torque neural controller (TNC), in which both the kinematic and dynamic models contain uncertainties and disturbances. The proposed adaptive neural controller (PANC) is composed of the KNC and the TNC and is designed with use of a modeling technique of Gaussian radial basis function neural networks (RBFNNs). The KNC is a variable structure controller, based on the sliding mode theory and is applied to compensate for the disturbances of the wheeled mobile robot kinematics. The TNC is an inertia-based controller composed of a dynamic neural controller (DNC) and a robust neural compensator (RNC) applied to compensate for the wheeled mobile robot dynamics, bounded unknown disturbances, and neural network modeling errors. To minimize the problems found in practical implementations of the classical variable structure controllers (VSC) and sliding mode controllers (SMC), and to eliminate the chattering phenomenon, the nonlinear and continuous KNC and RNC of the TNC are applied in lieu of the discontinuous components of the control signals that are present in classical forms. Additionally, the PANC neither requires the knowledge of the wheeled mobile robot kinematics and dynamics nor the timeconsuming training process. Stability analysis, convergence of the tracking errors to zero, and the learning algorithms for the weights are guaranteed based on the Lyapunov method. Simulation results are provided to demonstrate the effectiveness of the proposed approach. |
publishDate |
2015 |
dc.date.none.fl_str_mv |
2015-01-01 2022-04-29T08:03:54Z 2022-04-29T08:03:54Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
Control and Cybernetics, v. 44, n. 1, p. 47-98, 2015. 0324-8569 http://hdl.handle.net/11449/228309 2-s2.0-85018222508 |
identifier_str_mv |
Control and Cybernetics, v. 44, n. 1, p. 47-98, 2015. 0324-8569 2-s2.0-85018222508 |
url |
http://hdl.handle.net/11449/228309 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Control and Cybernetics |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
47-98 |
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_ |
1808129596138192896 |