Name
Title | ||
|---|---|---|
Neural Dynamic Control of a Nonholonomic Mobile Robot Incorporating the Actuator Dynamics |
Abstract | ||
|---|---|---|
In this paper, a trajectory tracking control for anonholonomic mobile robot by the integration of akinematic controller and neural dynamic controller isinvestigated, where the wheel actuator (e.g., dc motor)dynamics is integrated with mobile robot dynamicsand kinematics so that the actuator input voltages arethe control inputs. The proposed neural dynamiccontroller (PNDC), based on the sliding mode theory,is applied to compensate the mobile robot dynamics,bounded unknown disturbances, and influence ofpayload. This controller is obtained by modeling theRadial Basis Functions Neural Networks (RBFNNs) ofthe centripetal and Coriolis matrix through of theinertia matrix of the mobile robot dynamics. Thus,PNDC is constituted of static RBFNNs only, whatmakes possible the reduction of the size of theRBFNNs, of the computational load and theimplementation in real time. Stability analysis andnumerical simulations are provided to show theeffectiveness of the PNDC. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/CIMCA.2008.133 | CIMCA/IAWTIC/ISE |
Keywords | Field | DocType |
matrix algebra,mobile robots,neurocontrollers,position control,radial basis function networks,robot dynamics,robot kinematics,stability,variable structure systems,Coriolis matrix,actuator dynamics,actuator input voltages,inertia matrix,kinematic controller,mobile robot dynamics,neural dynamic control,neural dynamic controller,nonholonomic mobile robot,radial basis functions neural networks,sliding mode theory,trajectory tracking control,wheel actuator dynamics,Lyapunov theory,actuator dynamics,dynamic control,mobile robot,neural networks,trajectory tracking | Control theory,Kinematics,Computer science,Control theory,Robot kinematics,DC motor,Sylvester's law of inertia,Artificial neural network,Mobile robot,Actuator | Conference |
Citations | PageRank | References |
1 | 0.36 | 10 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nardênio A. Martins | 1 | 6 | 3.55 |
| Douglas W. Bertol | 2 | 4 | 2.45 |
| Edson R. De Pieri | 3 | 38 | 3.67 |
| Eugênio B. Castelan | 4 | 100 | 18.78 |
| Maria M. Dias | 5 | 3 | 1.07 |