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[会议论文]

Design of Adaptive Sliding Mode Controller for Four-Mecanum Wheel Mobile Robot

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作者:

Lu, Xingyang (Lu, Xingyang.) | Zhang, Xiangying (Zhang, Xiangying.) | Zhang, Guoliang (Zhang, Guoliang.) | 展开

收录:

EI Scopus

摘要:

In this paper, an adaptive sliding mode controller is designed for the omnidirectional mobile robot with four Mecanum wheels to track the trajectory. The Mecanum wheel mobile robot has been widely used in factories, hospitals, families and other workspaces because of its omnidirectional ability. Consider the dynamic model of the omnidirectional mobile robot based on Mecanum wheel with uncertainties and external disturbances, a neural network adaptive sliding mode control (NNASMC) strategy is proposed, which combines the techniques of Radial Basis Function (RBF) neural network adaptive control method and sliding mode control method. Finally, some simulation experiments are conducted in the Matlab environment. Simulation results demonstrate the effectiveness of the proposed control method. © 2018 Technical Committee on Control Theory, Chinese Association of Automation.

关键词:

Mobile robots Wheels Machine design Radial basis function networks Controllers Adaptive control systems Sliding mode control MATLAB Functions

作者机构:

  • [ 1 ] [Lu, Xingyang]Faulty of Information Technology, Beijing University of Technology, Beijing, China
  • [ 2 ] [Lu, Xingyang]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China
  • [ 3 ] [Lu, Xingyang]Engineering Research Center of Digital Community, Ministry of Education, Beijing, China
  • [ 4 ] [Zhang, Xiangying]Faulty of Information Technology, Beijing University of Technology, Beijing, China
  • [ 5 ] [Zhang, Xiangying]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China
  • [ 6 ] [Zhang, Xiangying]Engineering Research Center of Digital Community, Ministry of Education, Beijing, China
  • [ 7 ] [Zhang, Guoliang]Faulty of Information Technology, Beijing University of Technology, Beijing, China
  • [ 8 ] [Zhang, Guoliang]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China
  • [ 9 ] [Zhang, Guoliang]Engineering Research Center of Digital Community, Ministry of Education, Beijing, China
  • [ 10 ] [Jia, Songmin]Faulty of Information Technology, Beijing University of Technology, Beijing, China
  • [ 11 ] [Jia, Songmin]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, China
  • [ 12 ] [Jia, Songmin]Engineering Research Center of Digital Community, Ministry of Education, Beijing, China

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来源 :

ISSN: 1934-1768

年份: 2018

卷: 2018-July

页码: 3983-3987

语种: 英文

被引次数:

WoS核心集被引频次: 0

SCOPUS被引频次: 24

近30日浏览量: 3

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