Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots

Autores
Rossomando, Francisco Guido; Soria, Carlos Miguel
Año de publicación
2015
Idioma
portugués
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In this work, it will be reported original results concerning the application of PID Adaptive Neural controller in mobile robot in trajectory tracking control. In this control strategy the exact dynamical model of the robot will not need to be known and identified. To implement this strategy, two controllers are implemented separately: a kinematic controller and an adaptive neural PID controller. The uncertainty and dynamics variations in the robot dynamic are compensated by an adaptive neural PID controller. The resulting adaptive neural PID controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance. The stability of the proposed technique (based on Lyapunov’s theory) was demonstrated. Finally, experiments on a mobile robot have been developed to show the performance of the proposed technique, including the comparison with other controllers.
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina
Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina
Materia
Mimo System
Nonlinear Control
Adaptive Control
Neural Network
Nivel de accesibilidad
acceso abierto
Condiciones de uso
Atribución-NoComercial-CompartirIgual 2.5 Argentina (CC BY-NC-SA 2.5 AR)
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/8907
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/8907
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robotsRossomando, Francisco GuidoSoria, Carlos MiguelMimo SystemNonlinear ControlAdaptive ControlNeural Networkhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In this work, it will be reported original results concerning the application of PID Adaptive Neural controller in mobile robot in trajectory tracking control. In this control strategy the exact dynamical model of the robot will not need to be known and identified. To implement this strategy, two controllers are implemented separately: a kinematic controller and an adaptive neural PID controller. The uncertainty and dynamics variations in the robot dynamic are compensated by an adaptive neural PID controller. The resulting adaptive neural PID controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance. The stability of the proposed technique (based on Lyapunov’s theory) was demonstrated. Finally, experiments on a mobile robot have been developed to show the performance of the proposed technique, including the comparison with other controllers.Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; ArgentinaFil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; ArgentinaInstitute Of Electrical And Electronics Engineers2015-04info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/8907Rossomando, Francisco Guido; Soria, Carlos Miguel; Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots; Institute Of Electrical And Electronics Engineers; IEEE Latin America Transactions; 13; 4; 4-2015; 913-9181548-0992porinfo:eu-repo/semantics/altIdentifier/doi/10.1109/TLA.2015.7106337info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/7106337/info:eu-repo/semantics/openAccessAtribución-NoComercial-CompartirIgual 2.5 Argentina (CC BY-NC-SA 2.5 AR)https://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T14:29:58Zoai:ri.conicet.gov.ar:11336/8907instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-15 14:29:59.049CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots
title Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots
spellingShingle Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots
Rossomando, Francisco Guido
Mimo System
Nonlinear Control
Adaptive Control
Neural Network
title_short Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots
title_full Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots
title_fullStr Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots
title_full_unstemmed Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots
title_sort Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots
dc.creator.none.fl_str_mv Rossomando, Francisco Guido
Soria, Carlos Miguel
author Rossomando, Francisco Guido
author_facet Rossomando, Francisco Guido
Soria, Carlos Miguel
author_role author
author2 Soria, Carlos Miguel
author2_role author
dc.subject.none.fl_str_mv Mimo System
Nonlinear Control
Adaptive Control
Neural Network
topic Mimo System
Nonlinear Control
Adaptive Control
Neural Network
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv In this work, it will be reported original results concerning the application of PID Adaptive Neural controller in mobile robot in trajectory tracking control. In this control strategy the exact dynamical model of the robot will not need to be known and identified. To implement this strategy, two controllers are implemented separately: a kinematic controller and an adaptive neural PID controller. The uncertainty and dynamics variations in the robot dynamic are compensated by an adaptive neural PID controller. The resulting adaptive neural PID controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance. The stability of the proposed technique (based on Lyapunov’s theory) was demonstrated. Finally, experiments on a mobile robot have been developed to show the performance of the proposed technique, including the comparison with other controllers.
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina
Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina
description In this work, it will be reported original results concerning the application of PID Adaptive Neural controller in mobile robot in trajectory tracking control. In this control strategy the exact dynamical model of the robot will not need to be known and identified. To implement this strategy, two controllers are implemented separately: a kinematic controller and an adaptive neural PID controller. The uncertainty and dynamics variations in the robot dynamic are compensated by an adaptive neural PID controller. The resulting adaptive neural PID controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance. The stability of the proposed technique (based on Lyapunov’s theory) was demonstrated. Finally, experiments on a mobile robot have been developed to show the performance of the proposed technique, including the comparison with other controllers.
publishDate 2015
dc.date.none.fl_str_mv 2015-04
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/8907
Rossomando, Francisco Guido; Soria, Carlos Miguel; Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots; Institute Of Electrical And Electronics Engineers; IEEE Latin America Transactions; 13; 4; 4-2015; 913-918
1548-0992
url http://hdl.handle.net/11336/8907
identifier_str_mv Rossomando, Francisco Guido; Soria, Carlos Miguel; Design and implementation of adaptive NeuralPID for non linear dynamics in mobile robots; Institute Of Electrical And Electronics Engineers; IEEE Latin America Transactions; 13; 4; 4-2015; 913-918
1548-0992
dc.language.none.fl_str_mv por
language por
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1109/TLA.2015.7106337
info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/7106337/
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
Atribución-NoComercial-CompartirIgual 2.5 Argentina (CC BY-NC-SA 2.5 AR)
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv Atribución-NoComercial-CompartirIgual 2.5 Argentina (CC BY-NC-SA 2.5 AR)
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute Of Electrical And Electronics Engineers
publisher.none.fl_str_mv Institute Of Electrical And Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1846082773881716736
score 13.22299

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