To read this content please select one of the options below:

A self-tuning trajectory tracking controller for wheeled mobile robots

Pouya Panahandeh (University of Tehran, Tehran, Iran)
Khalil Alipour (Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Islamic Republic of Iran)
Bahram Tarvirdizadeh (Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran)
Alireza Hadi (University of Tehran, Tehran, Iran)

Industrial Robot

ISSN: 0143-991X

Article publication date: 17 September 2019

Issue publication date: 14 November 2019

211

Abstract

Purpose

Trajectory tracking is a common problem in the field of mobile robots which has attracted a lot of attention in the past two decades. Therefore, besides the search for new controllers to achieve a better performance, improvement and optimization of existing control rules are necessary. Trajectory tracking control laws usually contain constant gains which affect greatly the robot’s performance.

Design/methodology/approach

In this paper, a method based on neural networks is introduced to automatically upgrade the gains of a well-known trajectory tracking controller of wheeled mobile robots. The suggested method speeds up the convergence rate of the main controller.

Findings

Simulations and experiments are performed to assess the ability of the suggested scheme. The obtained results show the effectiveness of the proposed method.

Originality/value

In this paper, a method based on neural networks is introduced to automatically upgrade the gains of a well-known trajectory tracking controller of wheeled mobile robots. The suggested method speeds up the convergence rate of the main controller.

Keywords

Citation

Panahandeh, P., Alipour, K., Tarvirdizadeh, B. and Hadi, A. (2019), "A self-tuning trajectory tracking controller for wheeled mobile robots", Industrial Robot, Vol. 46 No. 6, pp. 828-838. https://doi.org/10.1108/IR-02-2019-0032

Publisher

:

Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited

Related articles