摘要
针对一类非完整移动机器人的轨迹跟踪控制问题,同时考虑移动机器人的运动学和动力学模型,设计运动学控制器和动力学控制器结合的神经网络控制系统.其中动态模型中的不确定性是由神经元控制器进行补偿,由此可保证闭环误差系统最终趋近稳定.采用基于李亚普诺夫(Lyapunov)稳定性理论的判稳方法,证明整个闭环控制系统的稳定性.仿真结果表明,该控制方案具有较强的鲁棒性.
An intelligent control strategy for trajectory tracking control system of nonholonomic mobile robot is presented,which is the combination of a kinematic controller and an inverse dynamic controller based on neural networked control,considering both kinematic and dynamical model.The RBF neural networks of radial basis function has been used to modeling compensation,so the uniformly ultimately asymptotic stability of the closed loop error system can be obtained.The stability of entire closed loop system is proved by Lyapunov stability theory.The simulation results demonstrate that this control method has good robustness.
出处
《哈尔滨理工大学学报》
CAS
2012年第6期30-35,共6页
Journal of Harbin University of Science and Technology
基金
国家自然科学基金(61005008
60803049)
关键词
非完整系统
轮式移动机器人
RBF神经网络
轨迹跟踪控制
nonholonomic system
wheeled mobile robot
adaptive control
RBF Neural network
trajectory tracking
