A Novel Zeroing Neural Network Control Scheme for Tracked Mobile Robot Based on an Extended State Observer

被引：0
|
作者：
Cao, Yuxuan [1 ]
Pu, Jinyun [1 ]
机构：
[1] Naval Univ Engn, Coll Power Engn, Wuhan 430033, Peoples R China
来源：
APPLIED SCIENCES-BASEL | 2024年 / 14卷 / 01期
关键词：
tracked mobile robot; extended state observer; fixed time; zeroing neural network; TIME CONVERGENCE; DESIGN;
D O I：
10.3390/app14010303
中图分类号：
O6 [化学];
学科分类号：
0703 ;
摘要：
A novel zeroing neural network control scheme based on an extended state observer is proposed for the trajectory tracking of a tracked mobile robot which is subject to unknown external disturbances and uncertainties. To estimate unknown lumped disturbances and unmeasured velocities, a third-order fixed-time extended state observer is proposed, and the observation errors converge to zero in fixed time. Based on the estimated values, the zeroing neural network controller is designed for a tracked mobile robot to track an eight shape. The stability of the system is analyzed based on Lyapunov theory. Simulation results are illustrated to show the effectiveness of the proposed control scheme.
引用
收藏
页数：17
相关论文
共 50 条
  • [41] State observer-based robust control scheme for electrically driven robot manipulators
    Oya, M
    Su, CY
    Kobayashi, T
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (04): : 796 - 804
  • [42] Observer-Based coverage control of unicycle mobile robot network in dynamic environment
    Sun, Qihai
    Chi, Ming
    Liu, Zhi-Wei
    He, Dingxin
    JOURNAL OF THE FRANKLIN INSTITUTE, 2023, 360 (12) : 9015 - 9027
  • [43] Mobile Robot Localization Using Fuzzy Neural Network Based Extended Kalman Filter
    Thi Thanh Van Nguyen
    Manh Duong Phung
    Thuan Hoang Tran
    Quang Vinh Tran
    2012 IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING (ICCSCE 2012), 2012, : 416 - 421
  • [44] Intensive Noise-Tolerant Zeroing Neural Network Based on a Novel Fuzzy Control Approach
    Jia, Lei
    Xiao, Lin
    Dai, Jianhua
    Wang, Yaonan
    IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2023, 31 (12) : 4350 - 4360
  • [45] A multi-constrained zeroing neural network for time-dependent nonlinear optimization with application to mobile robot tracking control
    Chen, Dechao
    Cao, Xinwei
    Li, Shuai
    NEUROCOMPUTING, 2021, 460 : 331 - 344
  • [46] A novel control architecture and design of hybrid locomotion and manipulation tracked mobile robot
    Ben-Tzvi, Pinhas
    Goldenberg, Andrew A.
    Zu, Jean W.
    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 1374 - +
  • [47] A novel zeroing neural network for dynamic sylvester equation solving and robot trajectory tracking
    Zhao, Lv
    Shao, Huaiyuan
    Yang, Xiaolei
    Liu, Xin
    Tang, Zhijun
    Lin, Hairong
    FRONTIERS IN PHYSICS, 2023, 11
  • [48] Robust zeroing neural network for fixed-time kinematic control of wheeled mobile robot in noise-polluted environment
    Zhao, Lv
    Jin, Jie
    Gong, Jianqiang
    MATHEMATICS AND COMPUTERS IN SIMULATION, 2021, 185 : 289 - 307
  • [49] Neural network - Based controllers for mobile robot
    de Sousa, C
    Hemerly, EM
    SIXTH BRAZILIAN SYMPOSIUM ON NEURAL NETWORKS, VOL 1, PROCEEDINGS, 2000, : 50 - 55
  • [50] Adaptive robust control of a class of motor servo system with dead zone based on neural network and extended state observer
    Xu, Chenchen
    Hu, Jian
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2022, 236 (09) : 1724 - 1737
12345