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Engineering Review : Međunarodni časopis namijenjen publiciranju originalnih istraživanja s aspekta analize konstrukcija, materijala i novih tehnologija u području strojarstva, brodogradnje, temeljnih tehničkih znanosti, elektrotehnike, računarstva i građevinarstva, Vol. 34 No. 3, 2014.

Izvorni znanstveni članak

Trajectory tracking control based on adaptive neural dynamics for four-wheel drive omnidirectional mobile robots

Jianbin Wang ; School of Automation, Guangdong University of Technology, Guangzhou, Guangdong
Jianping Chen ; School of Computer Science, Zhaoqing University, Zhaoqing, Guangdong
Sijie Ouyang ; School of Electronic Information and Mechnical & Electrical Engineering, Zhaoqing University, Zhaoqing, Guangdong
Yimin Yang ; School of Automation, Guangdong University of Technology, Guangzhou, Guangdong

Puni tekst: engleski PDF 121 Kb

str. 235-243

preuzimanja: 1.110

citiraj

Sažetak

There is usually the speed jump problem existing in conventional back-stepping tracking control for four-wheel drive omni-directional mobile robots, a trajectory tracking controller based on adaptive neural dynamics model is proposed. Because of the smoothness and boundedness of the output from the neural dynamics model, it produces a gradually varying tracking speed instead of the jumping speed, and the parameters are designed to avoid the control values exceeding their limits. And then, a parameter adaptive controller is presented to improve control performance. Simulation results of different paths and comparison with the conventional back-stepping technique show that the approach is effective, and the system has a good performance with smooth output.

Ključne riječi

four-wheel drive; omni-directional mobile robot; adaptive neural dynamics; trajectory tracking

Hrčak ID:

126870

URI

https://hrcak.srce.hr/126870

Datum izdavanja:

15.9.2014.

Posjeta: 1.969 *