Adaptive Neural Network PID Sliding Mode Dynamic Control of Nonholonomic Mobile Robot

摘要：

A hybrid control algorithm is proposed based on a backstepping kinematic control and a PID sliding mode dynamic control with an adaptive neural network adjust gain of sliding mode control for trajectory tracking control of nonholonomic mobile robot. Parameters and non-parameter uncertainties of mobile robot can be solved by using the robust control which takes advantages of stability and robustness in PID sliding mode control. The gain of sliding mode control is adjusted by using the RBFNN control with adaptive tuning algorithm, which enhances the adaptability for random uncertainty and eliminates input chattering of the sliding mode control. The stability and convergence of the control system are proved by using the Lyapunov method. The simulation results demonstrate that the controller has smooth control input, and the tracking errors of nonholonomic mobile robot are eliminated.

关键词： Adaptive neural network PID sliding mode control Dynamic control Trajectory tracking Nonholonomic mobile robot

作者: Yandong Li Zongyi Wang Ling Zhu

作者单位: College of Automation Harbin Engineering University Harbin,Heilongjiang Province,China College of Co College of Automation Harbin Engineering University Harbin,Heilongjiang Province,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-5

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）