Robust neural networks control of omni-mecanum wheeled robot with Hamilton-Jacobi inequality

• Autorzy: Hendzel Z.

Identyfikatory

DOI

10.15632/jtam-pl.56.4.1193

• Języki publikacji: EN

Abstrakty

EN

This paper presents a novel approach to the problem of controlling mechanical objects of unspecified description, considering variable operating conditions. The controlled object is a mobile robot with mecanum wheels (MRK M). To solve the control task, taking into account compensation for nonlinearity and the object variable operating conditions, the Lyapunov stability theory is applied, including the Hamilton-Jacobi (HJ) inequality. A neural network with basic sigmoid functions is used to compensate for the nonlinearity and variable operating conditions of the robot. A simulation example is provided in order to evaluate the analytical considerations. The simulation results obtained confirmed high accuracy of the predicted robot motion in variable operating conditions.

Słowa kluczowe

EN

mechatronics; mobile robot; mecanum wheels; Hamilton-Jacobi inequality

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2018
• Tom: Vol. 56 nr 4
• Strony: 1193--1204
• Opis fizyczny: Bibliogr. 23 poz., rys., tab.

Twórcy

autor

Hendzel Z.

• Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Rzeszów, Poland

Bibliografia

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• 19. Tsai C.-C., Wu H.-L., 2010, Nonsingular terminal sliding control using fuzzy wavelet networks for mecanum- wheeled omni-directional vehicles, IEEE International Conference on Fuzzy Systems, 1-6
• 20. Tsai C.-C., Tai F.-C., Lee Y.-R., 2011, Motion controller design and embedded realization for mecanum wheeled omni-directional robots, Proceedings of the 8th World Congress on Intelligent Control and Automation, Taiwan, 546-551
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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).