Trajectory Tracking of a Spherical Robot Based on an RBF Neural Network

被引：3
作者：
Zheng, Minghui [1 ]
Zhan, Qiang [2 ]
Liu, Jinkun [1 ]
Cai, Yao [2 ]
机构：
[1] Beijing Univ Aeronaut & Astronaut, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Beijing Univ Aeronaut & Astronaut, Inst Robot, Beijing 100191, Peoples R China
来源：
MANUFACTURING SCIENCE AND TECHNOLOGY, PTS 1-8 | 2012年 / 383-390卷
基金：
国家高技术研究发展计划(863计划); 中国国家自然科学基金;
关键词：
Spherical robot; Trajectory tracking; Kinematics; Dynamics; RBF;
D O I：
10.4028/www.scientific.net/AMR.383-390.631
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper deals with trajectory tracking problem of a spherical mobile robot, BHQ-1. First, a desired velocity is obtained by proposing a PD controller based on the kinematics. Then a PD controller with an RBF (Radial Basis Function) neural network is proposed based on the desired velocity and the inexact dynamics. The weights of the RBF network are designed with an adaptive rule based on the tracking error, and hence the network can compensate the uncertainties of the dynamics more effectively. Stability is presented via Lyapunov Theory and simulation results are provided to illustrate the tracking performance.
引用
收藏
页码：631 / +
页数：2
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