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Adaptive-Neural-Network-Based Trajectory Tracking Control for a Nonholonomic Wheeled Mobile Robot With Velocity Constraints

文献类型：期刊论文

作者Chen, Ziyu8,9; Liu, Yang1,7,10; He, Wei2,3; Qiao, Hong4,5,6,8; Ji, Haibo9
刊名IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
出版日期2021-06-01
卷号68期号:6页码:5057-5067
ISSN号0278-0046
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
通讯作者Qiao, Hong(hong.qiao@ia.ac.cn)
英文摘要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.
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]
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:000621470900045
资助机构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
源URL[http://ir.ia.ac.cn/handle/173211/43359]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者Qiao, Hong
作者单位1.Chinese Acad Sci, Cloud Comp Ctr, Dongguan 523808, Peoples R China
2.Univ Sci & Technol Beijing, Inst Artificial Intelligence, Beijing 100083, Peoples R China
3.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
4.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China
5.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
6.Univ Sci & Technol China, Hefei 230027, Peoples R China
7.Univ Sci & Technol Beijing, Dept Mech Engn, Beijing 100083, Peoples R China
8.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
9.Univ Sci & Technol China, Dept Automat, Hefei 230027, Peoples R China
10.Beijing Key Lab Res & Applicat Robot Intelligence, Beijing 100190, Peoples R China
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.

入库方式： OAI收割

来源：自动化研究所

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