Application of Fault Tolerant Controller Based on RBF Neural Networks for Mobile Robot

Zheng Li
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引用次数: 6

Abstract

This paper presents a method based on RBF neural networks for achieving fault tolerant control in the mobile robot control scheme. Tuning rules of the RBF networks which guarantees the stability of the fault system were derived and the on-line fault tolerant control scheme was developed. The method does not need fault detection and diagnosis modules. As an example of the application, a tracking control problem for the speed and azimuth of a mobile robot driven by two independent wheels is solved by using the controller. The effectiveness of the proposed method is illustrated by performing the simulation of a circular trajectory tracking control.
基于RBF神经网络的容错控制器在移动机器人中的应用
提出了一种基于RBF神经网络的移动机器人容错控制方法。推导了保证故障系统稳定性的RBF网络的整定规则,并提出了在线容错控制方案。该方法不需要故障检测和诊断模块。作为应用实例,利用该控制器解决了由两个独立车轮驱动的移动机器人的速度和方位跟踪控制问题。通过对一个圆形轨迹跟踪控制的仿真,验证了所提方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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