Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators: Robust Neural Network-Based Sliding Mode Approach
Xu, Dong1,2; Zhao, Dongbin1; Yi, Jianqiang1; Tan, Xiangmin1
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
2009-06-01
Volume39Issue:3Pages:788-799
SubtypeArticle
AbstractThis paper addresses the robust trajectory tracking problem for a redundantly actuated omnidirectional mobile manipulator in the presence of uncertainties and disturbances. The development of control algorithms is based on sliding mode control (SMC) technique. First, a dynamic model is derived based on the practical omnidirectional mobile manipulator system. Then, a SMC scheme, based on the fixed large upper boundedness of the system dynamics (FLUBSMC), is designed to ensure trajectory tracking of the closed-loop system. However, the FLUBSNIC scheme has inherent deficiency, which needs computing the upper boundedness of the system dynamics, and may cause high noise amplification and high control cost, particularly for the complex dynamics of the omnidirectional mobile manipulator system. Therefore, a robust neural network (NN)-based sliding mode controller (NNSMC), which uses an NN to identify the unstructured system dynamics directly, is further proposed to overcome the disadvantages of FLUBSMC and reduce the online computing burden of conventional NN adaptive controllers. Using learning ability of NN, NNSMC can coordinately control the omnidirectional mobile platform and the mounted manipulator with different dynamics effectively. The stability of the closed-loop system, the convergence of the NN weight-updating process, and the boundedness of the NN weight estimation errors are all strictly guaranteed. Then, in order to accelerate the NN learning efficiency, a partitioned NN structure is applied. Finally, simulation examples are given to demonstrate the proposed NNSMC approach can guarantee the whole system's convergence to the desired manifold with prescribed performance.
KeywordOmnidirectional Mobile Manipulators Robust Neural Network (Nn) Sliding Mode Control (Smc) Trajectory Tracking Control Uncertainties
WOS HeadingsScience & Technology ; Technology
WOS KeywordSYSTEMS ; ROBOTS ; MOTION
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS IDWOS:000266069600016
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3590
Collection复杂系统管理与控制国家重点实验室_先进控制与自动化
Affiliation1.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China
2.Beijing Sevenstar Elect Co Ltd, IC Proc Equipment R&D Ctr, Beijing 100016, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Xu, Dong,Zhao, Dongbin,Yi, Jianqiang,et al. Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators: Robust Neural Network-Based Sliding Mode Approach[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,2009,39(3):788-799.
APA Xu, Dong,Zhao, Dongbin,Yi, Jianqiang,&Tan, Xiangmin.(2009).Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators: Robust Neural Network-Based Sliding Mode Approach.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,39(3),788-799.
MLA Xu, Dong,et al."Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators: Robust Neural Network-Based Sliding Mode Approach".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 39.3(2009):788-799.
Files in This Item: Download All
File Name/Size DocType Version Access License
2009 SMCB - Trajecto(443KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Xu, Dong]'s Articles
[Zhao, Dongbin]'s Articles
[Yi, Jianqiang]'s Articles
Baidu academic
Similar articles in Baidu academic
[Xu, Dong]'s Articles
[Zhao, Dongbin]'s Articles
[Yi, Jianqiang]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Xu, Dong]'s Articles
[Zhao, Dongbin]'s Articles
[Yi, Jianqiang]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 2009 SMCB - Trajectory Tracking Control of Omnidirecitonal Wheeled Mobile Manipulators.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.