Sliding mode neuro-adaptive controller designed in discrete time for mobile robots

Autores
Rossomando, Francisco Guido; Soria, Carlos Miguel; Oliveira Freire, Eduardo; Carelli Albarracin, Ricardo Oscar
Año de publicación
2018
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
It is well known that all robotic systems have additional dynamics and disturbances beyond those that are modelled. Hence, in this paper, the performance of a neuro-adaptive sliding mode control (NA-SMC) controller is analysed in the presence of disturbances and unmodelled dynamics. The proposed control strategy has two stages: first, a feedback linearization controller for a kinematic model; second, a neuro-adaptive SMC controller for a dynamic model. The entire control strategy is designed in discrete time using Lyapunov’s criterion, and the stability problems caused by direct implementation in discrete time to a system designed in a continuous domain are thereby avoided. The unmodelled dynamics introduce tracking errors in the closed-loop system; however, experiments made using the proposed approach to control mobile robots show that output tracking error tends to zero.
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Oliveira Freire, Eduardo. Universidade Federal de Sergipe; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
ADAPTIVE NEURAL CONTROL
MOBILE ROBOT
NONLINEAR SYSTEMS
SLIDING MODE CONTROL
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:11336/148020
Acceder
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network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Sliding mode neuro-adaptive controller designed in discrete time for mobile robotsRossomando, Francisco GuidoSoria, Carlos MiguelOliveira Freire, EduardoCarelli Albarracin, Ricardo OscarADAPTIVE NEURAL CONTROLMOBILE ROBOTNONLINEAR SYSTEMSSLIDING MODE CONTROLhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2It is well known that all robotic systems have additional dynamics and disturbances beyond those that are modelled. Hence, in this paper, the performance of a neuro-adaptive sliding mode control (NA-SMC) controller is analysed in the presence of disturbances and unmodelled dynamics. The proposed control strategy has two stages: first, a feedback linearization controller for a kinematic model; second, a neuro-adaptive SMC controller for a dynamic model. The entire control strategy is designed in discrete time using Lyapunov’s criterion, and the stability problems caused by direct implementation in discrete time to a system designed in a continuous domain are thereby avoided. The unmodelled dynamics introduce tracking errors in the closed-loop system; however, experiments made using the proposed approach to control mobile robots show that output tracking error tends to zero.Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Oliveira Freire, Eduardo. Universidade Federal de Sergipe; BrasilFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaActa Press2018-04info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/148020Rossomando, Francisco Guido; Soria, Carlos Miguel; Oliveira Freire, Eduardo; Carelli Albarracin, Ricardo Oscar; Sliding mode neuro-adaptive controller designed in discrete time for mobile robots; Acta Press; Control and Intelligent Systems; 46; 2; 4-2018; 55-632561-17712561-178XCONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.actapress.com/PaperInfo.aspx?paperId=45736info:eu-repo/semantics/altIdentifier/doi/10.2316/Journal.201.2018.2.201-2792info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-11-12T09:41:26Zoai:ri.conicet.gov.ar:11336/148020instacron: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:34982025-11-12 09:41:27.017CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Sliding mode neuro-adaptive controller designed in discrete time for mobile robots
title Sliding mode neuro-adaptive controller designed in discrete time for mobile robots
spellingShingle Sliding mode neuro-adaptive controller designed in discrete time for mobile robots
Rossomando, Francisco Guido
ADAPTIVE NEURAL CONTROL
MOBILE ROBOT
NONLINEAR SYSTEMS
SLIDING MODE CONTROL
title_short Sliding mode neuro-adaptive controller designed in discrete time for mobile robots
title_full Sliding mode neuro-adaptive controller designed in discrete time for mobile robots
title_fullStr Sliding mode neuro-adaptive controller designed in discrete time for mobile robots
title_full_unstemmed Sliding mode neuro-adaptive controller designed in discrete time for mobile robots
title_sort Sliding mode neuro-adaptive controller designed in discrete time for mobile robots
dc.creator.none.fl_str_mv Rossomando, Francisco Guido
Soria, Carlos Miguel
Oliveira Freire, Eduardo
Carelli Albarracin, Ricardo Oscar
author Rossomando, Francisco Guido
author_facet Rossomando, Francisco Guido
Soria, Carlos Miguel
Oliveira Freire, Eduardo
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Soria, Carlos Miguel
Oliveira Freire, Eduardo
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
dc.subject.none.fl_str_mv ADAPTIVE NEURAL CONTROL
MOBILE ROBOT
NONLINEAR SYSTEMS
SLIDING MODE CONTROL
topic ADAPTIVE NEURAL CONTROL
MOBILE ROBOT
NONLINEAR SYSTEMS
SLIDING MODE CONTROL
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv It is well known that all robotic systems have additional dynamics and disturbances beyond those that are modelled. Hence, in this paper, the performance of a neuro-adaptive sliding mode control (NA-SMC) controller is analysed in the presence of disturbances and unmodelled dynamics. The proposed control strategy has two stages: first, a feedback linearization controller for a kinematic model; second, a neuro-adaptive SMC controller for a dynamic model. The entire control strategy is designed in discrete time using Lyapunov’s criterion, and the stability problems caused by direct implementation in discrete time to a system designed in a continuous domain are thereby avoided. The unmodelled dynamics introduce tracking errors in the closed-loop system; however, experiments made using the proposed approach to control mobile robots show that output tracking error tends to zero.
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Oliveira Freire, Eduardo. Universidade Federal de Sergipe; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description It is well known that all robotic systems have additional dynamics and disturbances beyond those that are modelled. Hence, in this paper, the performance of a neuro-adaptive sliding mode control (NA-SMC) controller is analysed in the presence of disturbances and unmodelled dynamics. The proposed control strategy has two stages: first, a feedback linearization controller for a kinematic model; second, a neuro-adaptive SMC controller for a dynamic model. The entire control strategy is designed in discrete time using Lyapunov’s criterion, and the stability problems caused by direct implementation in discrete time to a system designed in a continuous domain are thereby avoided. The unmodelled dynamics introduce tracking errors in the closed-loop system; however, experiments made using the proposed approach to control mobile robots show that output tracking error tends to zero.
publishDate 2018
dc.date.none.fl_str_mv 2018-04
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/11336/148020
Rossomando, Francisco Guido; Soria, Carlos Miguel; Oliveira Freire, Eduardo; Carelli Albarracin, Ricardo Oscar; Sliding mode neuro-adaptive controller designed in discrete time for mobile robots; Acta Press; Control and Intelligent Systems; 46; 2; 4-2018; 55-63
2561-1771
2561-178X
CONICET Digital
CONICET
url http://hdl.handle.net/11336/148020
identifier_str_mv Rossomando, Francisco Guido; Soria, Carlos Miguel; Oliveira Freire, Eduardo; Carelli Albarracin, Ricardo Oscar; Sliding mode neuro-adaptive controller designed in discrete time for mobile robots; Acta Press; Control and Intelligent Systems; 46; 2; 4-2018; 55-63
2561-1771
2561-178X
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://www.actapress.com/PaperInfo.aspx?paperId=45736
info:eu-repo/semantics/altIdentifier/doi/10.2316/Journal.201.2018.2.201-2792
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
application/pdf
dc.publisher.none.fl_str_mv Acta Press
publisher.none.fl_str_mv Acta Press
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 12.976206

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