Title :
Tracking control of wheeled mobile robots based on sliding-mode control
Author :
Liu, Yu ; Zhang, Yan ; Wang, Haiyan
Author_Institution :
Coll. of Inf. Technol., Jingling Inst. of Technol., Nanjing, China
Abstract :
By using sliding-mode control and torque control based on RBF neural networked control, a new trajectory tracking control system of wheeled mobile robot is presented. Studying both kinematic and dynamical model, the RBF neural networks learn the process of mobile robot motion, and constitutes a torque controller combined with the speed error. The uniformly ultimately asymptotic stability of the closed loop error system can be obtained. The stability of entire system is proved by Lyapunov stability criterion. The simulation results demonstrate that this control strategy has good robustness.
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; mobile robots; motion control; neurocontrollers; position control; radial basis function networks; robot dynamics; robot kinematics; robust control; torque control; tracking; variable structure systems; velocity control; wheels; Lyapunov stability criterion; RBF neural networked control; RBF neural networks; closed loop error system; control strategy; dynamical model; entire system stability; kinematic model; mobile robot motion; robustness; sliding-mode control; speed error; torque controller; trajectory tracking control system; uniformly ultimately asymptotic stability; wheeled mobile robots; Kinematics; Mobile robots; Sliding mode control; Torque; Trajectory; Nonholonomic system; RBF Neural networked control; Sliding-mode control; Trajectory tracking;
Conference_Titel :
Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC), 2011 2nd International Conference on
Conference_Location :
Deng Leng
Print_ISBN :
978-1-4577-0535-9
DOI :
10.1109/AIMSEC.2011.6010640
