Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural control

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MetadadosDescriçãoIdioma
Autor(es): dc.contributorUniversidade Estadual de Maringá (UEM)-
Autor(es): dc.contributorINSA - Institut National des Sciences Appliquées-
Autor(es): dc.contributorUniversidade Federal de Santa Catarina (UFSC)-
Autor(es): dc.contributorUniversidade Estadual Paulista (UNESP)-
Autor(es): dc.creatorMartins, Nardênio Almeida-
Autor(es): dc.creatorDe Alencar, Maycol-
Autor(es): dc.creatorLombardi, Warody Claudinei-
Autor(es): dc.creatorBertol, Douglas Wildgrube-
Autor(es): dc.creatorDe Pieri, Edson Roberto-
Autor(es): dc.creatorFilho, Humberto Ferasoli-
Data de aceite: dc.date.accessioned2025-08-21T23:44:59Z-
Data de disponibilização: dc.date.available2025-08-21T23:44:59Z-
Data de envio: dc.date.issued2022-04-29-
Data de envio: dc.date.issued2022-04-29-
Data de envio: dc.date.issued2015-01-01-
Fonte completa do material: dc.identifierhttp://hdl.handle.net/11449/228309-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/11449/228309-
Descrição: dc.descriptionThis 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.-
Descrição: dc.descriptionUniversidade Estadual de Maringá Departamento de Informática, Avenida Colombo, 5790-
Descrição: dc.descriptionLyon Université INSA - Institut National des Sciences Appliquées, 20, avenue Albert Einstein-
Descrição: dc.descriptionUniversidade Federal de Santa Catarina Departamento de Automãçao e Sistemas Programa de Pós-Graduãçao em Engenharia de Automãçao e Sistemas, Caixa Postal 476-
Descrição: dc.descriptionUniversidade Estadual Paulista Júlio de Mesquita Filho Faculdade de Ciências Departamento de Computãçao, Avenida Luiz Edmundo Carrijo Coube, Caixa Postal 473-
Descrição: dc.descriptionUniversidade Estadual Paulista Júlio de Mesquita Filho Faculdade de Ciências Departamento de Computãçao, Avenida Luiz Edmundo Carrijo Coube, Caixa Postal 473-
Formato: dc.format47-98-
Idioma: dc.languageen-
Relação: dc.relationControl and Cybernetics-
???dc.source???: dc.sourceScopus-
Palavras-chave: dc.subjectDynamic control-
Palavras-chave: dc.subjectKinematic control-
Palavras-chave: dc.subjectLyapunov theory-
Palavras-chave: dc.subjectNeural networks-
Palavras-chave: dc.subjectSliding mode theory-
Palavras-chave: dc.subjectTrajectory tracking-
Palavras-chave: dc.subjectVariable structure control-
Palavras-chave: dc.subjectWheeled mobile robot-
Título: dc.titleTrajectory tracking of a wheeled mobile robot with uncertainties and disturbances: Proposed adaptive neural control-
Tipo de arquivo: dc.typelivro digital-
Aparece nas coleções:Repositório Institucional - Unesp

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