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A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

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dc.contributor.authorMartins, Nardênio A.
dc.contributor.authorDe Alencar, Maycol
dc.contributor.authorLombardi, Warody C.
dc.contributor.authorBertol, Douglas W.
dc.contributor.authorDe Pieri, Edson R.
dc.contributor.authorFilho, Humberto F. [UNESP]
dc.contributor.institutionUniversidade Estadual de Maringá (UEM)
dc.contributor.institutionINSA - Institut National des Sciences Appliquées
dc.contributor.institutionUniversidade Federal de Santa Catarina (UFSC)
dc.contributor.institutionUniversidade Estadual Paulista (Unesp)
dc.date.accessioned2014-05-27T11:27:06Z
dc.date.available2014-05-27T11:27:06Z
dc.date.issued2012-10-25
dc.description.abstractIn this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains disturbances. The KNC is a variable structure controller (VSC) based on the sliding mode control theory (SMC), and applied to compensate the kinematic disturbances. The TNC is a inertia-based controller constituted of a dynamic neural controller (DNC) and a robust neural compensator (RNC), and applied to compensate the mobile robot dynamics, and bounded unknown disturbances. Stability analysis with basis on Lyapunov method and simulations results are provided to show the effectiveness of the proposed approach. © 2012 Springer-Verlag.en
dc.description.affiliationUniversidade Estadual de Maringá Departamento de Informática, Avenida Colombo, 5790, Maringá, PR 87020-900
dc.description.affiliationLyon Université INSA - Institut National des Sciences Appliquées, 20, avenue Albert Einstein, Villeurbanne Cedex 69621
dc.description.affiliationUniversidade Federal de Santa Catarina Departamento de Automação e Sistemas Grupo de Pesquisa Robótica, C.P. 476, Florianópolis, SC 88040-900
dc.description.affiliationFaculdade de Ciências Departamento de Computação Universidade Estadual Paulista Júlio de Mesquita Filho, Av. Luiz E.C. Coube C.P. 473, Bauru, SP 17033-360
dc.description.affiliationUnespFaculdade de Ciências Departamento de Computação Universidade Estadual Paulista Júlio de Mesquita Filho, Av. Luiz E.C. Coube C.P. 473, Bauru, SP 17033-360
dc.format.extent330-338
dc.identifierhttp://dx.doi.org/10.1007/978-3-642-33269-2_42
dc.identifier.citationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 7552 LNCS, n. PART 1, p. 330-338, 2012.
dc.identifier.doi10.1007/978-3-642-33269-2_42
dc.identifier.issn0302-9743
dc.identifier.issn1611-3349
dc.identifier.scopus2-s2.0-84867662672
dc.identifier.urihttp://hdl.handle.net/11449/73675
dc.language.isoeng
dc.relation.ispartofLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
dc.relation.ispartofsjr0,295
dc.rights.accessRightsAcesso aberto
dc.sourceScopus
dc.subjectLyapunov theory
dc.subjectneural networks
dc.subjectNonholonomic mobile robot
dc.subjectsliding mode control theory
dc.subjecttrajectory tracking
dc.subjectvariable structure control
dc.subjectBounded unknown disturbances
dc.subjectDynamic neural controllers
dc.subjectLyapunov theories
dc.subjectMobile robot dynamics
dc.subjectNeural control
dc.subjectNeural controller
dc.subjectNon-holonomic mobile robots
dc.subjectStability analysis
dc.subjectTrajectory tracking
dc.subjectTrajectory tracking control
dc.subjectVariable structure controller
dc.subjectKinematics
dc.subjectLyapunov methods
dc.subjectNeural networks
dc.subjectSliding mode control
dc.subjectVariable structure control
dc.subjectMobile robots
dc.titleA proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbancesen
dc.typeTrabalho apresentado em evento
dcterms.licensehttp://www.springer.com/open+access/authors+rights
dspace.entity.typePublication
unesp.campusUniversidade Estadual Paulista (UNESP), Faculdade de Ciências, Baurupt
unesp.departmentComputação - FCpt

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