• CN:11-2187/TH
  • ISSN:0577-6686

›› 2010, Vol. 46 ›› Issue (23): 16-22.

• 论文 • 上一篇    下一篇

非完整移动机器人的双自适应神经滑模控制

王宗义;李艳东;朱玲   

  1. 哈尔滨工程大学自动化学院
  • 发布日期:2010-12-05

Dual Adaptive Neural Sliding Mode Control of Nonholonomic Mobile Robot

WANG Zongyi;LI Yandong;ZHU Ling   

  1. College of Automation, Harbin Engineering University
  • Published:2010-12-05

摘要: 针对非完整移动机器人轨迹跟踪控制问题,提出一种基于Backstepping运动学控制器与双自适应神经滑模鲁棒动力学控制的混合鲁棒控制算法。利用两个带自适应调节算法的径向基神经网络(Radial basis function neural network, RBFNN)分别计算滑模的等效控制部分和调节滑模控制的增益,不但解决了移动机器人的参数与非参数不确定性问题,同时也消除了在滑模控制中的输入抖振现象。设计过程采用Lyapunov方法,保证了控制系统的稳定与收敛。仿真结果表明了该方法的有效性,且在多种不确定性存在的情况下,该方法能较好地消除非完整机器人的跟踪误差。

关键词: 不确定性, 非完整移动机器人, 轨迹跟踪, 混合控制, 双自适应神经滑模控制

Abstract: A hybrid robust control algorithm is proposed based on a backstepping kinematic control and a sliding mode hybrid dynamics control with dual adaptive neural network for trajectory tracking control of nonholonomic mobile robot. The equivalent control of sliding mode control is computed and the gain of sliding mode control is adjusted by using dual radial basis function neural network control with adaptive adjust algorithm, which not only solves parameter and non-parameter uncertainties of mobile robot, but also eliminates input chattering in the sliding mode control. The stability and convergence of the control system are ensured by using the Lyapunov method. The simulation results show the validity of the controller in the presence of uncertainties, and the tracking errors of nonholonomic mobile robot are eliminated.

Key words: Dual adaptive neural sliding mode control, Hybrid control, Nonholonomic mobile robot, Trajectory tracking, Uncertainties

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