Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive
The wheeled robot has a complex nonlinear,strong coupling and time- varying dynamics characteristics,so taking the using of the traditional robot trajectory tracking control is easy to produce larger velocity mutation,and it bring about the chattering phenomenon of the robot in the process of contro...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.05.011 |
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| author | Zhang Wenchao Jiang Qingjian |
| author_facet | Zhang Wenchao Jiang Qingjian |
| author_sort | Zhang Wenchao |
| collection | DOAJ |
| description | The wheeled robot has a complex nonlinear,strong coupling and time- varying dynamics characteristics,so taking the using of the traditional robot trajectory tracking control is easy to produce larger velocity mutation,and it bring about the chattering phenomenon of the robot in the process of control,and a kind of wheeled robot trajectory tracking control method based on parameter adaptive neural dynamic mechanics is put forward. By kinematical analysis,the posture error model of wheeled robot is established,the robot trajectory tracking controller is designed by using the neural dynamics. Through analyzing and comparing of the relationship between the different parameter selection and control,and a parameter adaptive method to further improve the performance of trajectory tracking controller is designed. Finally,the simulation experiment is carried on for the design of the control method. The experimental results show that the designed control method can ensure the robot have smaller velocity mutation,and convergence at a faster pace in case of error with high precision in trajectory tracking. |
| format | Article |
| id | doaj-art-f0d2796e7b6a4e43be65171dbc7a35f8 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-f0d2796e7b6a4e43be65171dbc7a35f82025-01-10T14:17:48ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140464929923976Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter AdaptiveZhang WenchaoJiang QingjianThe wheeled robot has a complex nonlinear,strong coupling and time- varying dynamics characteristics,so taking the using of the traditional robot trajectory tracking control is easy to produce larger velocity mutation,and it bring about the chattering phenomenon of the robot in the process of control,and a kind of wheeled robot trajectory tracking control method based on parameter adaptive neural dynamic mechanics is put forward. By kinematical analysis,the posture error model of wheeled robot is established,the robot trajectory tracking controller is designed by using the neural dynamics. Through analyzing and comparing of the relationship between the different parameter selection and control,and a parameter adaptive method to further improve the performance of trajectory tracking controller is designed. Finally,the simulation experiment is carried on for the design of the control method. The experimental results show that the designed control method can ensure the robot have smaller velocity mutation,and convergence at a faster pace in case of error with high precision in trajectory tracking.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.05.011Wheeled robotNeural dynamicsParameter adaptiveTrajectory trackingSimulation |
| spellingShingle | Zhang Wenchao Jiang Qingjian Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive Jixie chuandong Wheeled robot Neural dynamics Parameter adaptive Trajectory tracking Simulation |
| title | Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive |
| title_full | Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive |
| title_fullStr | Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive |
| title_full_unstemmed | Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive |
| title_short | Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive |
| title_sort | trajectory tracking control of wheeled robot based on neural dynamic mechanics with parameter adaptive |
| topic | Wheeled robot Neural dynamics Parameter adaptive Trajectory tracking Simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.05.011 |
| work_keys_str_mv | AT zhangwenchao trajectorytrackingcontrolofwheeledrobotbasedonneuraldynamicmechanicswithparameteradaptive AT jiangqingjian trajectorytrackingcontrolofwheeledrobotbasedonneuraldynamicmechanicswithparameteradaptive |