Neural Networks Control of a Nonholonomic Mobile Robot with Deadzone Compensation
This paper presents a control structure designed by backstepping method for nonholonomic mobile robots with dead-zone compensation scheme.The backstepping controller makes integration of a kinematic controller and a torque controller without the perfect velocity tracking assumption.The deadzone precompensator using two neural networks(NNs),one to esti-mate the unknown deadzone and the other to provide adaptive compensation for general nonlinear actuator deadzones of unknown width.And a novel neural network structure is presented for approximation of piecewise continuous functions of the sort that appear in deadzone.The neural precompensator is employed to improve the performance of the backstepping controller.Stability analysis and convergence of tracking errors to zero as well as the learning algorithms for weights are guaranteed with basis on Lyapunov method.Simulations results are provided to show the effectiveness of the proposed approach.
WANG Kai JIA Yingmin DU Junping YU Fashan
The Seventh Research Division and the Department of Systems and Control,Beihang University BUAA,Beij The Seventh Research Division and the Department of Systems and Control,Beihang University BUAA,Beij Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia,School of Computer School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454000,Henan,P.
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）