Control of a nonholonomic mobile robot using neural networks

被引:495
作者
Fierro, R
Lewis, FL
机构
[1] Escuela Politec Nacl, Fac Ingn Elect, Quito, Ecuador
[2] Univ Texas, Automat & Robot Res Inst, Ft Worth, TX 76118 USA
来源
IEEE TRANSACTIONS ON NEURAL NETWORKS | 1998年 / 9卷 / 04期
基金
美国国家科学基金会;
关键词
backstepping control; Lyapunov stability; mobile robots; neural networks; nonholonomic systems;
D O I
10.1109/72.701173
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
A control structure that makes possible the integration of a kinematic controller and a neural network (NN) computed-torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and stability is guaranteed by Lyapunov theory. This control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following, and stabilization about a desired posture. Moreover, the NN controller proposed in this work can deal with unmodeled bounded disturbances and/or unstructured unmodeled dynamics in the vehicle. On-line NN weight,tuning algorithms do no require off-line learning.yet guarantee small tracking errors and bounded control signals are utilized.
引用
收藏
页码:589 / 600
页数:12
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