Adaptive-Neural-Network-Based Trajectory Tracking Control for a Nonholonomic Wheeled Mobile Robot With Velocity Constraints
Chen, Ziyu1,2; Liu, Yang3,4,5; He, Wei6,7; Qiao, Hong2,8,9,10; Ji, Haibo1
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2021-06-01
Volume68Issue:6Pages:5057-5067
Corresponding AuthorQiao, Hong(hong.qiao@ia.ac.cn)
AbstractIn this article, an adaptive neural network control scheme is presented for an uncertain wheeled mobile robot (WMR) with velocity constraints and nonholonomic constraints. In practice, dynamic parameters of the system, which may change in some conditions, are hard to obtain precisely, and the velocity of the WMR should be constrained for safety. To deal with the uncertainty of the robot, adaptive neural networks are used to approximate unknown robotic dynamics, and the barrier Lyapunov function is used to guarantee the constraint on velocity. The tracking error of the closed-loop system is proven to converge to a small neighborhood of zero. Both simulation studies and practical experiments are provided to illustrate the effectiveness of the proposed control scheme.
KeywordMobile robots Lyapunov methods Adaptive systems Artificial neural networks Automation Adaptive neural networks barrier Lyapunov function (BLF) velocity constraint wheeled mobile robot (WMR)
DOI10.1109/TIE.2020.2989711
Indexed BySCI
Language英语
Funding ProjectNational Key Research and Development Program of China[2017YFB1300200] ; National Key Research and Development Program of China[2017YFB1300203] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[91648205] ; Strategic Priority Research Program of the Chinese Academy of Sciences[XDB32000000] ; Development of Science and Technology of Guangdong Province Special Fund Project[2016B090910001]
Funding OrganizationNational Key Research and Development Program of China ; National Natural Science Foundation of China ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Development of Science and Technology of Guangdong Province Special Fund Project
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000621470900045
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/43360
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Corresponding AuthorQiao, Hong
Affiliation1.Univ Sci & Technol China, Dept Automat, Hefei 230027, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Univ Sci & Technol Beijing, Dept Mech Engn, Beijing 100083, Peoples R China
4.Beijing Key Lab Res & Applicat Robot Intelligence, Beijing 100190, Peoples R China
5.Chinese Acad Sci, Cloud Comp Ctr, Dongguan 523808, Peoples R China
6.Univ Sci & Technol Beijing, Inst Artificial Intelligence, Beijing 100083, Peoples R China
7.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
8.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China
9.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
10.Univ Sci & Technol China, Hefei 230027, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Chen, Ziyu,Liu, Yang,He, Wei,et al. Adaptive-Neural-Network-Based Trajectory Tracking Control for a Nonholonomic Wheeled Mobile Robot With Velocity Constraints[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2021,68(6):5057-5067.
APA Chen, Ziyu,Liu, Yang,He, Wei,Qiao, Hong,&Ji, Haibo.(2021).Adaptive-Neural-Network-Based Trajectory Tracking Control for a Nonholonomic Wheeled Mobile Robot With Velocity Constraints.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,68(6),5057-5067.
MLA Chen, Ziyu,et al."Adaptive-Neural-Network-Based Trajectory Tracking Control for a Nonholonomic Wheeled Mobile Robot With Velocity Constraints".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 68.6(2021):5057-5067.
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