Abstract
In this paper, a trajectory tracking control for a nonholonomic mobile robot by the integration of a kinematic controller and neural dynamic controller is investigated, where the wheel actuator dynamics is integrated with mobile robot dynamics and kinematics so that the actuator input voltages are the control inputs. The proposed neural dynamic controller (PNDC), based on the sliding mode theory, is constituted by a neural voltage controller (NVC) and a neural robust compensator (NRC), which has as objective compensates the uncertainties and disturbances in the dynamics. Stability analysis and numerical simulation are provided to show the effectiveness of the PNDC.
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Martins, N.A., Bertol, D.W., De Pieri, E.R. (2009). Trajectory Tracking of a Nonholonomic Mobile Robot Considering the Actuator Dynamics: Design of a Neural Dynamic Controller Based on Sliding Mode Theory. In: Alippi, C., Polycarpou, M., Panayiotou, C., Ellinas, G. (eds) Artificial Neural Networks – ICANN 2009. ICANN 2009. Lecture Notes in Computer Science, vol 5769. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04277-5_85
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DOI: https://doi.org/10.1007/978-3-642-04277-5_85
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