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
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2021-06-01
卷号68期号:6页码:5057-5067
通讯作者Qiao, Hong(hong.qiao@ia.ac.cn)
摘要In 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.
关键词Mobile 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
收录类别SCI
语种英语
资助项目National 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]
项目资助者National 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研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号WOS:000621470900045
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类智能控制
引用统计
被引频次:49[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/43360
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
通讯作者Qiao, Hong
作者单位1.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
第一作者单位中国科学院自动化研究所
通讯作者单位中国科学院自动化研究所
推荐引用方式
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.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Chen, Ziyu]的文章
[Liu, Yang]的文章
[He, Wei]的文章
百度学术
百度学术中相似的文章
[Chen, Ziyu]的文章
[Liu, Yang]的文章
[He, Wei]的文章
必应学术
必应学术中相似的文章
[Chen, Ziyu]的文章
[Liu, Yang]的文章
[He, Wei]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。