A Gaussian wavelet network-based robust adaptive tracking controller for a wheeled mobile robot with unknown wheel slips

被引：21
|
作者：
Tinh Nguyen [1 ]
Thuong Hoang [2 ]
Minhtuan Pham [3 ]
Namphuong Dao [4 ]
机构：
[1] Vietnam Acad Sci & Technol, Inst Informat Technol, Hanoi, Vietnam
[2] Thai Nguyen Univ, Univ Informat & Commun Technol, Thai Nguyen, Vietnam
[3] Vietnam Acad Sci & Technol, Space Technol Inst, Hanoi, Vietnam
[4] Hanoi Univ Sci & Technol, Sch Elect Engn, Hanoi, Vietnam
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2019年 / 92卷 / 11期
关键词：
Asymptotic stability; Gaussian wavelet network; robust adaptive tracking controller; wheeled mobile robot; unknown wheel slip; DESIGN;
D O I：
10.1080/00207179.2018.1458156
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a robust adaptive tracking controller is proposed for a nonholonomic wheeled mobile robot (WMR) in the presence of unknown wheel slips. The role of the Gaussian wavelet network in this proposed controller is to approximate unknown smooth nonlinear dynamic functions due to no prior knowledge of the dynamic parameters of the WMR. In addition, one robust law is employed at the kinematic level so as to compensate the harmful effects of the unknown wheel slips, and another robust law is used at the dynamic level to overcome total uncertainties caused by dynamic parameter variations, external disturbances, etc. The stability of the whole closed-loop control system is proved in accordance with Lyapunov theory and Barbalat's lemma. Ultimately, the simulation results are shown in comparison with those of another control method under the same condition to confirm the validity and efficiency of this proposed control method.
引用
收藏
页码：2681 / 2692
页数：12
相关论文
共 50 条
  • [1] An Adaptive Tracking Controller for Differential Wheeled Mobile Robots with Unknown Wheel Slips
    Hoang, Ngoc-Bach
    Kang, Hee-Jun
    [J]. INTELLIGENT COMPUTING THEORY, 2014, 8588 : 277 - 284
  • [2] Neural network-based adaptive tracking control for a nonholonomic wheeled mobile robot with unknown wheel slips, model uncertainties, and unknown bounded disturbances
    Nguyen, Tinh
    Le, Linh
    [J]. TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, 2018, 26 (01) : 378 - 392
  • [3] Neural Network-based Adaptive Sliding Mode Control Method for Tracking of a Nonholonomic Wheeled Mobile Robot with Unknown Wheel Slips, Model Uncertainties, and Unknown Bounded External Disturbances
    Tinh Nguyen
    Kiem Nguyentien
    Tuan Do
    Tuan Pham
    [J]. ACTA POLYTECHNICA HUNGARICA, 2018, 15 (02) : 103 - 123
  • [4] Neural Network-Based Adaptive Controller for Trajectory Tracking of Wheeled Mobile Robots
    Hassan, Najva
    Saleem, Abdul
    [J]. IEEE ACCESS, 2022, 10 : 13582 - 13597
  • [5] Single Network Robust Adaptive Critic-Based Trajectory Tracking Control for Wheeled Mobile Robot with Wheel Sliding
    Wang, Hongze
    Zhang, Jinxin
    [J]. 2021 6TH IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2021), 2021, : 835 - 840
  • [6] A NEURAL NETWORK BASED ADAPTIVE TRACKING CONTROLLER FOR NONHOLONOMIC WHEELED MOBILE ROBOTS WITH UNKNOWN DYNAMICS
    Mohareri, Omid
    Dhaouadi, Rached
    [J]. PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION - 2010, VOL 8, PTS A AND B, 2012, : 827 - 834
  • [7] Robust neural network-based tracking control and stabilization of a wheeled mobile robot with input saturation
    Huang, Hantao
    Zhou, Jingye
    Di, Qing
    Zhou, Jiawei
    Li, Jiawang
    [J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2019, 29 (02) : 375 - 392
  • [8] Robust adaptive tracking control of wheeled mobile robot
    Xin, Linjie
    Wang, Qinglin
    She, Jinhua
    Li, Yuan
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2016, 78 : 36 - 48
  • [9] Path tracking for wheeled mobile robot based on adaptive robust control
    Shi, Wenrui
    Xu, Lijia
    Chen, Sanyan
    Liang, Yuan
    [J]. PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, : 3086 - 3091
  • [10] Adaptive robust fuzzy-based dynamic controller design for wheeled mobile robot
    Taheri-Kalani, J.
    Khosrowjerdi, M. J.
    [J]. JOURNAL OF INTELLIGENT & FUZZY SYSTEMS, 2014, 26 (05) : 2557 - 2566
12345