Abstract
For dynamic model of a four-wheel omnidirectional mobile robot (FOMR) usually contains parameter uncertainties, in addition, with the influence of exogenous disturbances, the traditional method for motion control has not good performance. An adaptive variable structure control approach based on neural networks and filter (ANFVSC) is presented in this paper. According to the variable structure control theory and Radial Basis Function neural networks, combining the filter, the ANFVSC is applied to deal with the inherent buffeting with normal variable structure control method. The contribution of ANFVSC in improving the control system performance is shown via simulation. The results show that this method has good tracking robustness and a high control precision, simple achievement and effectively eliminated buffeting.
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Acknowledgments
The work of this paper is supported by the Natural Science Fund Free Application Project of Guangdong Province (No. S2011010004006), the Industry-university-institute Cooperation Project of Guangdong Province and China’s Ministry of Education (No. 2012B091100423), the Science and Technology Planning Project of Zhaoqing City (No. 2010F006, No. 2011F001), and the Research Initiation Fund of Zhaoqing University (No. 2012BS01). Associate professor Chen Jianping is corresponding author.
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© 2014 Institute for Computer Sciences, Social Informatics and Telecommunications Engineering
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Wang, J., Chen, J., Yang, Y. (2014). An Adaptive Variable Structure Control Approach Based on Neural Networks and Filter for Four-Wheel Omnidirectional Mobile Robots. In: Leung, V., Chen, M. (eds) Cloud Computing. CloudComp 2013. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 133. Springer, Cham. https://doi.org/10.1007/978-3-319-05506-0_22
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DOI: https://doi.org/10.1007/978-3-319-05506-0_22
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