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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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NN-based Adaptive Control for a Skid-type Autonomous Unmanned Ground Vehicle

스키드형 무인자율차량을 위한 신경망 기반 적응제어 기법 설계

  • Received : 2014.07.07
  • Accepted : 2014.09.15
  • Published : 2014.12.01
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Abstract

This study proposes a NN (Neural Networks)-based adaptive control method for a 6X6 skid-type UGV (Unmanned Ground Vehicle) with 6 in-wheel motors. The UGV experiences lots of uncertainties and, thus, the control performance can degrade significantly without a compensation of the unknown terms. To improve the control performance of the UGV, the NN is utilized to design the adaptive controller. Then, the designed overall force and moment are optimally distributed into 6 traction forces with the assumption that six vertical forces of the UGV are known exactly, because the six traction forces are original source to be excited to the UGV to move. Finally, numerical simulations with the TruckSim model are performed to validate the effectiveness of the proposed approach.

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References

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