Name
Title | ||
|---|---|---|
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances |
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1007/978-3-642-33269-2_42 | ICANN (1) |
Keywords | Field | DocType |
dynamic model,kinematic neural controller,dynamic neural controller,variable structure controller,kinematic disturbance,trajectory tracking,inertia-based controller,mode control theory,robust neural compensator,mobile robot dynamic,proposed neural control,torque neural controller,nonholonomic mobile robot,neural networks,variable structure control | Lyapunov function,Control theory,Kinematics,Computer science,Control theory,Artificial neural network,Variable structure control,Trajectory,Mobile robot,Sliding mode control | Conference |
Citations | PageRank | References |
0 | 0.34 | 3 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nardênio A. Martins | 1 | 6 | 3.55 |
| Maycol de Alencar | 2 | 2 | 1.44 |
| Warody C. Lombardi | 3 | 2 | 0.71 |
| Douglas W. Bertol | 4 | 4 | 2.45 |
| Edson R. De Pieri | 5 | 38 | 3.67 |
| humberto f unesp filho | 6 | 0 | 0.34 |