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.
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances
2012-10-25
Conference paper
Electronic Resource
English
Neural controller , sliding mode control theory , Mobile robots , Mobile robot dynamics , Lyapunov theories , Stability analysis , Trajectory tracking control , trajectory tracking , Kinematics , Sliding mode control , Bounded unknown disturbances , Nonholonomic mobile robot , variable structure control , Non-holonomic mobile robots , Lyapunov theory , Neural control , Dynamic neural controllers , Variable structure controller , neural networks , Lyapunov methods
DDC: | 629 |
Trajectory tracking control of nonholonomic mobile robots
British Library Online Contents | 2002
|Trajectory Control and Stabilization of Nonholonomic Wheeled Mobile Robot
British Library Conference Proceedings | 1998
|Research on trajectory tracking control of nonholonomic wheeled mobile service robots
British Library Conference Proceedings | 2009
|