Cooperation Control of Under-actuated Mobile Robots with RBF-NN Approximator | |
Yu Z.1,2; Wong S.F.2![]() | |
2019-01-09 | |
Conference Name | International Automatic Control Conference (CACS) |
Source Publication | 2018 International Automatic Control Conference (CACS) |
Conference Date | 2018-11 |
Conference Place | Taoyuan, Taiwan |
Abstract | The underactuated system adaptive control is a tough problem since its dynamic model limitation and nonlinear unknown parameters. In this paper, based on a two active wheels mobile robot kinematics and dynamics model, a Radial Basis Function neural network (RBFnn) was embedded into control system to approximate unknown terms. In mathematics aspect, the control algorithm is based on Lyapunov direct theory and backstepping method, which solving the states (position, orientation, velocity, etc) errors boundedness and convergence problem. The controller includes following aspects: 1.Driving robots states approach to predefined location, 2.Using saturation to avoid step signal disturbance, 3.Approximate unmodeled dynamic terms by RBF neural network. Moreover, a kind of cooperation control methodology was designed, to ensure several robots running in a specific formation. Finally, the simulation results performs that the system is stable and reasonable in the large modeling errors. |
Keyword | Cooperation Control Lyapunov Direct Method Rbf Neural Networks Tracking Control Algorithm Underactuated Mobile Robot |
DOI | 10.1109/CACS.2018.8606735 |
URL | View the original |
Indexed By | SCI |
Language | 英语 |
WOS Research Area | Automation & Control Systems |
WOS Subject | Automation & Control Systems |
WOS ID | WOS:000457604100005 |
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Citation statistics | |
Document Type | Conference paper |
Collection | DEPARTMENT OF ELECTROMECHANICAL ENGINEERING |
Affiliation | 1.Logistics College,Beijing Normal University,Zhuhai, Guangdong, China 2.Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China |
First Author Affilication | Faculty of Science and Technology |
Recommended Citation GB/T 7714 | Yu Z.,Wong S.F.. Cooperation Control of Under-actuated Mobile Robots with RBF-NN Approximator[C],2019. |
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