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 |
ISSN | 0278-0046 |
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) |
DOI | 10.1109/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 | |
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。 |
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。
修改评论