TAILIEUCHUNG - Neural network based adaptive tracking control for a nonholonomic wheeled mobile robot subject to unknown wheel slips
In this paper, Lagrange formula is employed with the purpose of modelling both the kinematics and dynamics of a nonholonomic wheeled mobile robot (WMR) subject to unknown wheel slips, model uncertainties such as unstructured unmodelled dynamic components, and unknown external disturbances such as unknown external forces. Afterwards, an adaptive tracking controller based on a radial basis function neural network (RBFNN) with an online weight tuning algorithm is proposed for tracking a predefined trajectory. Prior neural network offline training is not needed for the weights since they are easily initialized. | Journal of Computer Science and Cybernetics, , (2017), 70–85 DOI NEURAL NETWORK-BASED ADAPTIVE TRACKING CONTROL FOR A NONHOLONOMIC WHEELED MOBILE ROBOT SUBJECT TO UNKNOWN WHEEL SLIPS TINH NGUYEN1 , HUNG LINH LE2 1 Institute of Information Technology, Viet Nam Academy of Science and Technology 2 University of Information and Communication Technology, Thai Nguyen University 1 nvtinh@; 2 lhlinh@ Abstract. In this paper, Lagrange formula is employed with the purpose of modelling both the kinematics and dynamics of a nonholonomic wheeled mobile robot (WMR) subject to unknown wheel slips, model uncertainties such as unstructured unmodelled dynamic components, and unknown external disturbances such as unknown external forces. Afterwards, an adaptive tracking controller based on a radial basis function neural network (RBFNN) with an online weight tuning algorithm is proposed for tracking a predefined trajectory. Prior neural network offline training is not needed for the weights since they are easily initialized. Thanks to this proposed control approach, a desired tracking performance is obtained in which position tracking errors uniformly ultimately converge to an arbitrarily small neighborhood of the origin. In the sense of Lyapunov and LaSalle extension, the stability of the whole closed-loop system is guaranteed to achieve this desired tracking performance. The comparative results of computer simulation have validated the rightness and efficiency of the proposed controller. Keywords. Online weight tuning algorithm, wheeled mobile robot, uniformly ultimately bounded, unknown wheel slip. 1. INTRODUCTION It is well known that wheeled mobile robots (WMR) have ability to work in a wide area, and furthermore they are capable of performing tasks intelligently without any human action. Besides, they can replace people on dangerous tasks such as looking for explosive materials, transporting of goods in .
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