[1]贾鹤鸣,宋文龙,陈子印,等.基于神经网络反步法的移动机器人路径跟踪控制[J].南京理工大学学报(自然科学版),2014,38(01):27-33.
 Jia Heming,Song Wenlong,Chen Ziyin,et al.Path following controller for mobile robots based on neural network backstepping[J].Journal of Nanjing University of Science and Technology,2014,38(01):27-33.
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基于神经网络反步法的移动机器人路径跟踪控制
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
38卷
期数:
2014年01期
页码:
27-33
栏目:
出版日期:
2014-02-28

文章信息/Info

Title:
Path following controller for mobile robots based on neural network backstepping
作者:
贾鹤鸣1宋文龙1陈子印2杨 鑫1段海庆2
1.东北林业大学 机电工程学院,黑龙江 哈尔滨 150040; 2.哈尔滨工程大学 自动化学院,黑龙江 哈尔滨 150001
Author(s):
Jia Heming1Song Wenlong1Chen Ziyin2Yang Xin1Duan Haiqing2
1.College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,China; 2.College of Automation,Harbin Engineering University,Harbin 150001,China
关键词:
轮式移动机器人 路径跟踪控制 神经网络 反步法
Keywords:
wheeled mobile robot path following control neural network backstepping
分类号:
TP273
摘要:
为实现非完整轮式机器人的路径跟踪控制,设计基于反馈增益的反步法控制器,通过控制器参数设计消除了机器人动态误差模型中的部分非线性项,采用神经网络对模型不确定项进行补偿,并利用自适应鲁棒控制器在线补偿神经网络的估计误差,优化了神经网络的学习性能。仿真结果表明:设计的控制器参数易于调节,可实现轮式移动机器人对任意曲线路径的精确跟踪。
Abstract:
In order to implement the path following control of wheeled mobile robot with non-holonomic constraint,a backstepping method is designed based on feedback gain technique.Through the tuning of the controller's parameters,the nonlinear terms in error dynamic robot model can be eliminated,and the form of designed controller can be much simpler.Neural network is adopted to compensate the model uncertainties.An adaptive robust controller is designed to compensate the estimated error of neural network on-line,and the learning performance of neural network can be optimized.The simulation results illustrate that the parameters of controller are easy to be adjusted,and can make wheeled mobile robot track the desired arbitrary path precisely.

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相似文献/References:

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备注/Memo

备注/Memo:
收稿日期:2012-05-28 修回日期:2012-10-15
基金项目:国家自然科学基金(30972424); 教育部新世纪优秀人才支持计划项目(NCET-10-0279)
作者简介:贾鹤鸣(1983-),男,博士,副教授,主要研究方向:非线性控制理论及应用,E-mail:jiaheminglucky99@126.com; 通讯作者:宋文龙(1973-),男,博士,教授,博士生导师,主要研究方向:林业机器人控制及智能检测技术,E-mail:wlsong139@126.com。
引文格式:贾鹤鸣,宋文龙,陈子印,等.基于神经网络反步法的移动机器人路径跟踪控制[J].南京理工大学学报,2014,38(1):27-33.
投稿网址:http://njlgdxxb.paperonce.org
更新日期/Last Update: 2014-02-28