A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

dc.contributorUniversidade Estadual Paulista (UNESP)
dc.creatorMartins, Nardênio A.
dc.creatorDe Alencar, Maycol
dc.creatorLombardi, Warody C.
dc.creatorBertol, Douglas W.
dc.creatorDe Pieri, Edson R.
dc.creatorFilho, Humberto F.
dc.date2014-05-27T11:27:06Z
dc.date2016-10-25T18:38:52Z
dc.date2014-05-27T11:27:06Z
dc.date2016-10-25T18:38:52Z
dc.date2012-10-25
dc.date.accessioned2017-04-06T02:02:14Z
dc.date.available2017-04-06T02:02:14Z
dc.identifierLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 7552 LNCS, n. PART 1, p. 330-338, 2012.
dc.identifier0302-9743
dc.identifier1611-3349
dc.identifierhttp://hdl.handle.net/11449/73675
dc.identifierhttp://acervodigital.unesp.br/handle/11449/73675
dc.identifier10.1007/978-3-642-33269-2_42
dc.identifier2-s2.0-84867662672
dc.identifierhttp://dx.doi.org/10.1007/978-3-642-33269-2_42
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/894466
dc.descriptionIn 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.
dc.languageeng
dc.relationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectLyapunov theory
dc.subjectneural networks
dc.subjectNonholonomic mobile robot
dc.subjectsliding mode control theory
dc.subjecttrajectory tracking
dc.subjectvariable structure control
dc.subjectBounded unknown disturbances
dc.subjectDynamic neural controllers
dc.subjectLyapunov theories
dc.subjectMobile robot dynamics
dc.subjectNeural control
dc.subjectNeural controller
dc.subjectNon-holonomic mobile robots
dc.subjectStability analysis
dc.subjectTrajectory tracking
dc.subjectTrajectory tracking control
dc.subjectVariable structure controller
dc.subjectKinematics
dc.subjectLyapunov methods
dc.subjectNeural networks
dc.subjectSliding mode control
dc.subjectVariable structure control
dc.subjectMobile robots
dc.titleA proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances
dc.typeOtro


Este ítem pertenece a la siguiente institución