Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile Robots
A proportional plus derivative (PD) adaptive tracking control strategy based on neural sliding mode is proposed for the interference of unknown factors in the mathematical model of four-wheel omnidirectional robots. Firstly, the dynamics model of the robot is analyzed. Secondly, the backstepping tra...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-11-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.11.002 |
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| _version_ | 1841546982484606976 |
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| author | Zhang Kaiwen Li Guoli Xu Jiazi Wang Qunjing Wen Yan |
| author_facet | Zhang Kaiwen Li Guoli Xu Jiazi Wang Qunjing Wen Yan |
| author_sort | Zhang Kaiwen |
| collection | DOAJ |
| description | A proportional plus derivative (PD) adaptive tracking control strategy based on neural sliding mode is proposed for the interference of unknown factors in the mathematical model of four-wheel omnidirectional robots. Firstly, the dynamics model of the robot is analyzed. Secondly, the backstepping trajectory tracking controller is used to obtain the virtual velocity, and the PD controller is designed based on the error between the virtual input and the actual input. Then, the neural network is used to approximate the uncertainty in the dynamics model, and the stability of the system is proved by the Lyapunov theorem. Simulation and experimental results show that the control strategy is effective. |
| format | Article |
| id | doaj-art-73eb2a0e65f148b68720c6198eae0f3a |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-11-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-73eb2a0e65f148b68720c6198eae0f3a2025-01-10T14:59:21ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-11-014791344815625Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile RobotsZhang KaiwenLi GuoliXu JiaziWang QunjingWen YanA proportional plus derivative (PD) adaptive tracking control strategy based on neural sliding mode is proposed for the interference of unknown factors in the mathematical model of four-wheel omnidirectional robots. Firstly, the dynamics model of the robot is analyzed. Secondly, the backstepping trajectory tracking controller is used to obtain the virtual velocity, and the PD controller is designed based on the error between the virtual input and the actual input. Then, the neural network is used to approximate the uncertainty in the dynamics model, and the stability of the system is proved by the Lyapunov theorem. Simulation and experimental results show that the control strategy is effective.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.11.002Trajectory trackingOmnidirectional mobile robotNeural network adaptive controlPD control |
| spellingShingle | Zhang Kaiwen Li Guoli Xu Jiazi Wang Qunjing Wen Yan Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile Robots Jixie chuandong Trajectory tracking Omnidirectional mobile robot Neural network adaptive control PD control |
| title | Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile Robots |
| title_full | Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile Robots |
| title_fullStr | Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile Robots |
| title_full_unstemmed | Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile Robots |
| title_short | Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile Robots |
| title_sort | neural sliding mode adaptive pd tracking control of omnidirectional mobile robots |
| topic | Trajectory tracking Omnidirectional mobile robot Neural network adaptive control PD control |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.11.002 |
| work_keys_str_mv | AT zhangkaiwen neuralslidingmodeadaptivepdtrackingcontrolofomnidirectionalmobilerobots AT liguoli neuralslidingmodeadaptivepdtrackingcontrolofomnidirectionalmobilerobots AT xujiazi neuralslidingmodeadaptivepdtrackingcontrolofomnidirectionalmobilerobots AT wangqunjing neuralslidingmodeadaptivepdtrackingcontrolofomnidirectionalmobilerobots AT wenyan neuralslidingmodeadaptivepdtrackingcontrolofomnidirectionalmobilerobots |