Adaptive neural dynamic compensator for mobile robots in trajectory tracking control

Autores
Rossomando, Francisco Guido; Soria, Carlos Miguel; Carelli Albarracin, Ricardo Oscar
Año de publicación
2011
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In the present paper, it will be reported original results concerning the application of Neural Networks (NN) in mobile robot in trajectory tracking control. This work combines a feedback linearization based on a nominal model and an NN adaptive dynamic compensation. In mobile robot with uncertain dynamic parameters, two controllers are implemented separately: a kinematic controller and an inverse dynamic controller. The uncertainty in the nominal dynamic model is compensated by a neural adaptive feedback controller. The resulting adaptive controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance with a small computational effort. The learning laws were deduced by Lyapunovs stability analysis. Finally, the performance of the control system is verified through experiments.
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Soria, Carlos Miguel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
ADAPTIVE INVERSE CONTROL
LYAPUNOV THEORY
MOBILE ROBOT CONTROL
RBF NEURAL NETS
SSUBSPACE
SYSTEM IDENTIFICATION
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/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:11336/193439
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/193439
network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling Adaptive neural dynamic compensator for mobile robots in trajectory tracking controlRossomando, Francisco GuidoSoria, Carlos MiguelCarelli Albarracin, Ricardo OscarADAPTIVE INVERSE CONTROLLYAPUNOV THEORYMOBILE ROBOT CONTROLRBF NEURAL NETSSSUBSPACESYSTEM IDENTIFICATIONhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In the present paper, it will be reported original results concerning the application of Neural Networks (NN) in mobile robot in trajectory tracking control. This work combines a feedback linearization based on a nominal model and an NN adaptive dynamic compensation. In mobile robot with uncertain dynamic parameters, two controllers are implemented separately: a kinematic controller and an inverse dynamic controller. The uncertainty in the nominal dynamic model is compensated by a neural adaptive feedback controller. The resulting adaptive controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance with a small computational effort. The learning laws were deduced by Lyapunovs stability analysis. Finally, the performance of the control system is verified through experiments.Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Soria, Carlos Miguel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaInstitute of Electrical and Electronics Engineers2011-09info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/193439Rossomando, Francisco Guido; Soria, Carlos Miguel; Carelli Albarracin, Ricardo Oscar; Adaptive neural dynamic compensator for mobile robots in trajectory tracking control; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 9; 5; 9-2011; 593-6021548-0992CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/6030965info:eu-repo/semantics/altIdentifier/doi/10.1109/TLA.2011.6030965info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-11-05T10:50:45Zoai:ri.conicet.gov.ar:11336/193439instacron: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:34982025-11-05 10:50:45.286CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Adaptive neural dynamic compensator for mobile robots in trajectory tracking control
title Adaptive neural dynamic compensator for mobile robots in trajectory tracking control
spellingShingle Adaptive neural dynamic compensator for mobile robots in trajectory tracking control
Rossomando, Francisco Guido
ADAPTIVE INVERSE CONTROL
LYAPUNOV THEORY
MOBILE ROBOT CONTROL
RBF NEURAL NETS
SSUBSPACE
SYSTEM IDENTIFICATION
title_short Adaptive neural dynamic compensator for mobile robots in trajectory tracking control
title_full Adaptive neural dynamic compensator for mobile robots in trajectory tracking control
title_fullStr Adaptive neural dynamic compensator for mobile robots in trajectory tracking control
title_full_unstemmed Adaptive neural dynamic compensator for mobile robots in trajectory tracking control
title_sort Adaptive neural dynamic compensator for mobile robots in trajectory tracking control
dc.creator.none.fl_str_mv Rossomando, Francisco Guido
Soria, Carlos Miguel
Carelli Albarracin, Ricardo Oscar
author Rossomando, Francisco Guido
author_facet Rossomando, Francisco Guido
Soria, Carlos Miguel
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Soria, Carlos Miguel
Carelli Albarracin, Ricardo Oscar
author2_role author
author
dc.subject.none.fl_str_mv ADAPTIVE INVERSE CONTROL
LYAPUNOV THEORY
MOBILE ROBOT CONTROL
RBF NEURAL NETS
SSUBSPACE
SYSTEM IDENTIFICATION
topic ADAPTIVE INVERSE CONTROL
LYAPUNOV THEORY
MOBILE ROBOT CONTROL
RBF NEURAL NETS
SSUBSPACE
SYSTEM IDENTIFICATION
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 the present paper, it will be reported original results concerning the application of Neural Networks (NN) in mobile robot in trajectory tracking control. This work combines a feedback linearization based on a nominal model and an NN adaptive dynamic compensation. In mobile robot with uncertain dynamic parameters, two controllers are implemented separately: a kinematic controller and an inverse dynamic controller. The uncertainty in the nominal dynamic model is compensated by a neural adaptive feedback controller. The resulting adaptive controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance with a small computational effort. The learning laws were deduced by Lyapunovs stability analysis. Finally, the performance of the control system is verified through experiments.
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Soria, Carlos Miguel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description In the present paper, it will be reported original results concerning the application of Neural Networks (NN) in mobile robot in trajectory tracking control. This work combines a feedback linearization based on a nominal model and an NN adaptive dynamic compensation. In mobile robot with uncertain dynamic parameters, two controllers are implemented separately: a kinematic controller and an inverse dynamic controller. The uncertainty in the nominal dynamic model is compensated by a neural adaptive feedback controller. The resulting adaptive controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance with a small computational effort. The learning laws were deduced by Lyapunovs stability analysis. Finally, the performance of the control system is verified through experiments.
publishDate 2011
dc.date.none.fl_str_mv 2011-09
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/11336/193439
Rossomando, Francisco Guido; Soria, Carlos Miguel; Carelli Albarracin, Ricardo Oscar; Adaptive neural dynamic compensator for mobile robots in trajectory tracking control; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 9; 5; 9-2011; 593-602
1548-0992
CONICET Digital
CONICET
url http://hdl.handle.net/11336/193439
identifier_str_mv Rossomando, Francisco Guido; Soria, Carlos Miguel; Carelli Albarracin, Ricardo Oscar; Adaptive neural dynamic compensator for mobile robots in trajectory tracking control; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 9; 5; 9-2011; 593-602
1548-0992
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/6030965
info:eu-repo/semantics/altIdentifier/doi/10.1109/TLA.2011.6030965
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
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
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score 13.087074

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