基于神经网络的移动机器人实时控制中的时滞相关稳定性

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI:10.1109/CIRA.2007.382844

V. Chaitanya, P. Dwarikanath Patro, Prabir Kumar Sarkar

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引用次数: 2

摘要

研究了一类动力学完全未知的非完整移动机器人。提出了一种有效的单层神经网络控制器，用于移动机器人的实时路径跟踪控制。该控制器利用机器人回归动力学将高度非线性的机器人动力学以已知和未知的机器人动力学参数的线性形式表示出来。研究了输入控制转矩时滞对移动机器人运动稳定性的影响。本研究能够在保证机器人运动稳定性和跟踪性能的前提下，估计出输入控制转矩的最大允许时滞。

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Delay Dependent Stability in the Real Time Control of a Mobile Robot Using Neural Networks

In this paper a nonholonomic mobile robot with completely unknown dynamics is considered. An efficient single layered neural network controller is assumed for the real time path tracking control of the mobile robot. The controller takes advantage of the robot regressor dynamics that express the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot dynamic parameters. The influence of time delays in the input control torque on the stability of the mobile robot motion has been studied. The present work enables to estimate the maximum admissible time delay in the input control torque with out the loss of stability in robot motion and guaranteed tracking performance.

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来源期刊

2007 International Symposium on Computational Intelligence in Robotics and Automation

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