An adaptive variable structure controller for the trajectory tracking of a nonholonomic mobile robot with uncertainties and disturbances

In this paper, a trajectory tracking control for a nonholonomic mobile robot subjected to uncertainties and disturbances in the kinematic model is proposed. An adaptive variable structure controller based on the sliding mode theory is used, and applied to compensate these uncertainties and disturban...

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Autores principales: Almeida Martins, Nardênio, El'youssef, Ebrahim Samer, De Pieri, Edson Roberto, Lombardi, Warody Claudinei, Jungers, Marc
Formato: Articulo
Lenguaje:Inglés
Publicado: 2011
Materias:
Ciencias Informáticas
Kinematics and dynamics
Neural nets
Tracking
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/9687
http://journal.info.unlp.edu.ar/wp-content/uploads/JCST-Apr11-6.pdf
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SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-9687
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ciencias Informáticas
Kinematics and dynamics
Neural nets
Tracking
spellingShingle Ciencias Informáticas
Kinematics and dynamics
Neural nets
Tracking
Almeida Martins, Nardênio
El'youssef, Ebrahim Samer
De Pieri, Edson Roberto
Lombardi, Warody Claudinei
Jungers, Marc
An adaptive variable structure controller for the trajectory tracking of a nonholonomic mobile robot with uncertainties and disturbances
topic_facet Ciencias Informáticas
Kinematics and dynamics
Neural nets
Tracking
description In this paper, a trajectory tracking control for a nonholonomic mobile robot subjected to uncertainties and disturbances in the kinematic model is proposed. An adaptive variable structure controller based on the sliding mode theory is used, and applied to compensate these uncertainties and disturbances. To minimize the problems found in practical implementation using classical variable structure controllers, and eliminate the chattering phenomenon as well as compensate disturbances a neural compensator is used, which is nonlinear and continuous, in lieu of the discontinuous portion of the control signals present in classical forms. The proposed neural compensator is designed by a modeling technique of Gaussian radial basis function neural networks and does not require the time-consuming training process. Stability analysis is guaranteed with basis on the Lyapunov method. Simulation results are provided to show the effectiveness of the proposed approach.
format Articulo
Articulo
author Almeida Martins, Nardênio
El'youssef, Ebrahim Samer
De Pieri, Edson Roberto
Lombardi, Warody Claudinei
Jungers, Marc
author_facet Almeida Martins, Nardênio
El'youssef, Ebrahim Samer
De Pieri, Edson Roberto
Lombardi, Warody Claudinei
Jungers, Marc
author_sort Almeida Martins, Nardênio
title An adaptive variable structure controller for the trajectory tracking of a nonholonomic mobile robot with uncertainties and disturbances
title_short An adaptive variable structure controller for the trajectory tracking of a nonholonomic mobile robot with uncertainties and disturbances
title_full An adaptive variable structure controller for the trajectory tracking of a nonholonomic mobile robot with uncertainties and disturbances
title_fullStr An adaptive variable structure controller for the trajectory tracking of a nonholonomic mobile robot with uncertainties and disturbances
title_full_unstemmed An adaptive variable structure controller for the trajectory tracking of a nonholonomic mobile robot with uncertainties and disturbances
title_sort adaptive variable structure controller for the trajectory tracking of a nonholonomic mobile robot with uncertainties and disturbances
publishDate 2011
url http://sedici.unlp.edu.ar/handle/10915/9687
http://journal.info.unlp.edu.ar/wp-content/uploads/JCST-Apr11-6.pdf
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