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首页> 外文期刊>Mathematical Problems in Engineering >Cascade Sliding Control for Trajectory Tracking of a Nonholonomic Mobile Robot with Adaptive Neural Compensator
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Cascade Sliding Control for Trajectory Tracking of a Nonholonomic Mobile Robot with Adaptive Neural Compensator

机译：带自适应神经补偿器的非完整移动机器人轨迹跟踪的级联滑移控制

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摘要

A design of sliding mode controllers (SMC) with adaptive capacity is presented. This control technique is formed by two cascaded SMC controllers, one of them having an adaptive neural compensator (ANC); both are put on a WMR (wheeled mobile robot). The mobile robot is divided into a kinematics and a dynamics structure; the first SMC controller acts only on the kinematic structure and the SMC with neural adaptive compensator on the other one. The dynamic SMC was designed applying an inverse dynamic controller and using the model dynamics of the WMR. The adaptive neural compensation (ANC) was used in order to reduce the control error caused by the dynamics variations but it conveys a residual approximation error, so a sliding part was designed to cancel such error. This technique allows achieving the control objective despite parameter variations and external disturbances that take place in the dynamics; on the other hand, the ANC can adjust its neural parameters to reduce the dynamics variations of the WMR and thus improve the trajectory tracking control. Problems of convergence and stability are treated and design rules based on Lyapunov's theorem are given.
机译：提出了一种具有自适应能力的滑模控制器（SMC）的设计。该控制技术由两个级联的SMC控制器组成，其中一个具有自适应神经补偿器（ANC）；另一个是自适应神经补偿器。两者都放在WMR（轮式移动机器人）上。移动机器人分为运动学和动力学结构。第一个SMC控制器仅作用于运动结构，而SMC则具有神经自适应补偿器。动态SMC是使用逆动态控制器并使用WMR的模型动力学来设计的。为了减少由动态变化引起的控制误差，使用了自适应神经补偿（ANC），但它传达了残余的近似误差，因此设计了滑动部件来消除这种误差。这种技术可以实现控制目标，尽管动力学中会发生参数变化和外部干扰。另一方面，ANC可以调整其神经参数以减少WMR的动态变化，从而改善轨迹跟踪控制。处理了收敛性和稳定性问题，并给出了基于李雅普诺夫定理的设计规则。

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  • 来源
    《Mathematical Problems in Engineering》 |2017年第9期|8501098.1-8501098.13|共13页
  • 作者

    Capraro Flavio; Guido Rossomando Francisco; Soria Carlos; Scaglia Gustavo;

  • 作者单位

    Univ Nacl San Juan, Inst Automat CONICET, Fac Ingn, Av San Martin Oeste, RA-1109 San Juan, Argentina;

    Univ Nacl San Juan, Inst Automat CONICET, Fac Ingn, Av San Martin Oeste, RA-1109 San Juan, Argentina;

    Univ Nacl San Juan, Inst Automat CONICET, Fac Ingn, Av San Martin Oeste, RA-1109 San Juan, Argentina;

    Univ Nacl San Juan, Inst Ingn Quim CONICET, Fac Ingn, Av San Martin Oeste, RA-1109 San Juan, Argentina;

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