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Cooperation Control of Under-actuated Mobile Robots with RBF-NN Approximator
Yu Z.1,2; Wong S.F.2
2019-01-09
Conference NameInternational Automatic Control Conference (CACS)
Source Publication2018 International Automatic Control Conference (CACS)
Conference Date2018-11
Conference PlaceTaoyuan, 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.

KeywordCooperation Control Lyapunov Direct Method Rbf Neural Networks Tracking Control Algorithm Underactuated Mobile Robot
DOI10.1109/CACS.2018.8606735
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000457604100005
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Citation statistics
Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Affiliation1.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 AffilicationFaculty 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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