Trajectory tracking of a nonholonomic mobile robot: A suggested neural torque controller based on the sliding mode theory

IEEE 10th International Workshop on Variable Structure Systems, VSS'08

Volumn , Issue , 2008, Pages 384-389

  Martins, Nardênio A ^a   Bertol, Douglas W ^a   Lombardi, Warody C ^a   De Pieri, Edson R ^a  

^a FEDERAL UNIVERSITY OF SANTA CATARINA   (Brazil)

Author keywords

[No Author keywords available]

Indexed keywords

ARTIFICIAL INTELLIGENCE; COMPUTER SIMULATION; CONVERGENCE OF NUMERICAL METHODS; DYNAMICS; ERROR ANALYSIS; ERRORS; FEEDFORWARD NEURAL NETWORKS; LEARNING ALGORITHMS; LEARNING SYSTEMS; LYAPUNOV METHODS; MOBILE ROBOTS; RADIAL BASIS FUNCTION NETWORKS; ROBOTICS; ROBOTS; SPECTRUM ANALYZERS; TORQUE CONTROL; TRAJECTORIES; VEGETATION;

BOUNDED UNKNOWN DISTURBANCES; CHATTERING PHENOMENON; CONTROL SIGNALLING; DYNAMIC NEURAL CONTROLLER; GAUSSIAN RADIAL BASIS FUNCTION; KINEMATIC CONTROLLERS; LYAPUNOV; MOBILE ROBOT DYNAMICS; MODELING TECHNIQUES; NEURAL NETWORK MODELLING; NON-HOLONOMIC MOBILE ROBOTS; NUMERICAL SIMULATIONS; PRACTICAL IMPLEMENTATION; SLIDING MODE CONTROLLERS; SLIDING MODE THEORY; STABILITY AND CONVERGENCE; SUGGESTED APPROACH; TRACKING ERRORS; TRAINING PROCESSES; TRAJECTORY TRACKING; TRAJECTORY TRACKING CONTROL; VARIABLE STRUCTURE SYSTEMS;

NEURAL NETWORKS;

EID: 52049086493     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/VSS.2008.4570739     Document Type: Conference Paper

References (13)

1. R. Fierro, and F. L. Lewis, "Control of a Nonholonomic Mobile Robot using Neural Networks," IEEE Trans. Neural Networks, vol. 9, no. 4, 1998, pp. 589-600.
2. P. Shuwen, S. Hongye, H. Xiehe, and C. Jian, "Variable Structure Control Theory and Application: A Survey," in Proc. World Congress Intel. Control and Automation, 2000, pp. 2977-2981.
3. M. O. Efe, and O. Kaynak, "Variable Structure Systems Theory based Training Strategies for Computationally Intelligent Systems," in Proc. Annual Conference IEEE Industrial Electronics Society, 2001, pp. 1563-1576.
4. O. Kaynak, K. Erbatur, and M. Ertugrul, "The Fusion of Computationally Intelligent Methodologies and Sliding Mode Control - A Survey," IEEE Trans. Industrial Electronics, vol. 48, no. 1, 2001, pp. 4-17.
5. S. Liu, H. Zhang, S. X. Yang, and J. Yu, "Dynamic Control of a Mobile Robot using an Adaptive Neurodynamics and Sliding Mode Strategy," in World Congress Intel. Control and Automation, 2004, pp. 5007-5011.
6. S. Liu, Q. Yu, W. Lin, and S. X. Yang, "Tracking Control of Mobile Robots based on Improved RBF Neural Networks," in Proc. IEEE/RSJ Int. Conf. Intel. Robots and Systems, 2006, pp. 1879-884.
7. S. Seshagiri, and H. K. Khalil, "Output Feedback Control of Nonlinear Systems using RBF Neural Networks," IEEE Trans. Neural Networks, vol. 11, no. 1, 2000, pp. 69-79.
8. T. Hu, and S. X. Yang, "An Efficient Neural Controller for a Nonholonomic Mobile Robot," in Proc. IEEE Int. Symp. Comput. Intel. in Robotics and Automation, 2001, pp. 461-466.
9. C. Oh, M. S. Kim, J. Y. Lee, and J. J. Lee, "Control of Mobile Robots using RBF Network," in Proc. IEEE/RSJ Int. Conf. Intel. Robots and Systems, vol. 4, 2003, pp. 3528-3533.
10. S. S. Ge, "Robust Adaptive NN Feedback Linearization Control of Nonlinear Systems," Int. J. Systems Science, 1996, pp. 1327-1338.
11. Y. Kanayama, Y. Kimura, F. Miyazaki, and T. Noguchi, "A Stable Tracking Control Method for an Autonomous Mobile Robot," in Proc. IEEE Int. Conf. Robotics and Automation, 1990, pp. 384-389.
12. J. Y. Hung, W. Gao, and J. C. Hung, "Variable Structure Control: a Survey," IEEE Trans. Industrial Electronics, vol. 40, no. 1, 1993, pp. 2-22.
13. W. Gao, and J. C. Hung, "Variable Structure Control of Nonlinear Systems: A New Approach," IEEE Trans. Industrial Electronics, vol. 40, no. 1, 1993, pp. 45-55.