Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of an RBFN-based Adaptive Tracking Controller for an Uncertain Mobile Robot

불확실한 이동 로봇에 대한 RBFN 기반 적응 추종 제어기의 설계

  • Shin, Jin-Ho (Department of Mechatronics Engineering, Dong-eui University) ;
  • Baek, Woon-Bo (Department of Mechatronics Engineering, Dong-eui University)
  • 신진호 (동의대학교 ICT공과대학 메카트로닉스공학과) ;
  • 백운보 (동의대학교 ICT공과대학 메카트로닉스공학과)
  • Received : 2014.10.01
  • Accepted : 2014.11.03
  • Published : 2014.12.01
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Abstract

This paper proposes an RBFN-based adaptive tracking controller for an electrically driven mobile robot with parametric uncertainties and external disturbances. A mobile robot model considered in this paper includes all models of the robot body and actuators with uncertain kinematic and dynamic parameters, and uncertain frictions and external disturbances. The proposed controller consists of an RBFN(Radial Basis Function Network) and a robust adaptive controller. The presented RBFN is used to approximate unknown nonlinear robot dynamic functions. The proposed controller is adjusted by the adaptation laws obtained through the Lyapunov stability analysis. The proposed control scheme does not a priori need the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. Also, nominal parameter values are not required in the controller. The global stability of the closed-loop robot control system is guaranteed using the Lyapunov stability theory. Simulation results show the validity and robustness of the proposed control scheme.

Keywords

References

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