Unified control of tracking and stabilization for WMR based on bio-inspired neurodynamics

YIN Xiao-hong; YANG Can; KAN Jun-wu; CHENG Guang-ming

doi:null

您当前的位置：

首页 >

文章列表页 >

Unified control of tracking and stabilization for WMR based on bio-inspired neurodynamics

Micro/Nano Technology and Fine Mechanics | 更新时间：2020-08-13

- Unified control of tracking and stabilization for WMR based on bio-inspired neurodynamics
- Optics and Precision Engineering Vol. 22, Issue 3, Pages: 670-678(2014)
- 作者机构：
  
  浙江师范大学精密机械研究所,浙江金华,321004
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP246
- Published：25 March 2014
- 稿件说明：
移动端阅览
尹晓红,杨灿,阚君武等. 基于神经动力学的轮式移动机器人跟踪与稳定统一控制[J]. 光学精密工程, 2014,22(3): 670-678

YIN Xiao-hong, YANG Can, KAN Jun-wu etc. Unified control of tracking and stabilization for WMR based on bio-inspired neurodynamics[J]. Editorial Office of Optics and Precision Engineering, 2014,22(3): 670-678
尹晓红,杨灿,阚君武等. 基于神经动力学的轮式移动机器人跟踪与稳定统一控制[J]. 光学精密工程, 2014,22(3): 670-678 DOI：

YIN Xiao-hong, YANG Can, KAN Jun-wu etc. Unified control of tracking and stabilization for WMR based on bio-inspired neurodynamics[J]. Editorial Office of Optics and Precision Engineering, 2014,22(3): 670-678 DOI：

摘要

为了对轮式移动机器人(WMR)进行光滑、鲁棒、稳定的轨迹跟踪控制

分析了生物激励神经动力学原理

研究了非线性模型预测控制策略

提出了一种基于神经动力学思想的模型预测终端控制方法。首先

针对传统控制方法存在的初始速度跳变问题

利用神经动力学在信息处理方面的优良特性

设计了神经动力学控制模块;然后

根据模型预测控制原理给出了一个优化控制模块;最后

设计了终端域和线性反馈终端控制器来保证系统的全局渐近稳定性。仿真结果表明:利用所设计的控制方法进行曲线跟踪时

被控WMR系统收敛到参考轨迹的时间可从12 s降到5 s

初始线速度/角速度分别从[-3

4] m/s和[-5

6] rad/s 缩小到[0

2] m/s和[-3

3] rad/s

且系统输出有界光滑

使WMR在完成轨迹跟踪的同时实现了全局渐进稳定。由于文中核心算法的推导过程不受WMR运动学模型限制

故该研究结论亦可应用于其他结构的移动机器人。

Abstract

关键词

Keywords

references

YANG F, WANG C L, JING G Z.Adaptive tracking control for dynamic nonholonomic mobile robots with uncalibrated visual parameters [J].International Journal of Adaptive Control and Signal Processing, 2013, 27 (8):688-700.

WAI R J, LIN Y W.Adaptive moving-target tracking control of a vision-based mobile robot via a dynamic petri recurrent fuzzy neural network [J].IEEE Transactions on Fuzzy Systems, 2013, 21 (4):688-701.

CHEN N J, SONG F Z, LI G P.An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints [J].Communications in Nonlinear Science and Numerical Simulation, 2013, 18(10):2885-2899.

王菲, 柳洪义, 罗忠.形位不确定回转腔体内壁表面的打磨[J].光学精密工程, 2013, 21(6):1479-1487.

WANG F, LIU H Y, LUO ZH.Grinding control of rotary shell’s inner-surface with dynamics uncertainties [J].Opt. Precision Eng., 2013, 21(6):1479-1487.(in Chinese)

马立, 于瀛洁, 程维明, 等.BP神经网络补偿并联机器人定位误差[J].光学精密工程, 2008, 16(5):878-883.

MA L, YU Y J, CHENG W M, et al..Positioning error compensation for a parallel robot based on BP neural networks [J].Opt. Precision Eng., 2008, 16(5):878-883.(in Chinese)

MOSADEGHZAD M, NADERI D, GANJEFAR S.Dynamic modeling and stability optimization of a redundant mobile robot using a genetic algorithm[J].Robotica, 2012, 30(3):505-514.

PRODAN I, OLARU S, STOICA C, et al..Predictive control for trajectory tracking and decentralized navigation of multi agent formations [J].International Journal of Applied Mathematics and Computer Science, 2013, 23(1):91-102.

MAYNE D Q.Optimization in model predictive control [J].Methods of Model Based Process Control, 1995, 293:367-396.

YAO Y, FREEMAN W J.Model of biological pattern recognition with spatially chaotic dynamics [J].Neural Networks, 1990, 3(2):153-170.

YANG S X, MENG M.An efficient neural network approach to dynamic robot motion planning [J].Neural Networks, 2000, 13(2):143-148.

GROSSBERG S.Nonlinear neural networks:principles, mechanisms and architecture [J].Neural Networks, 1988, 1:17-61.

CHEN H, ALLGOWER F A.Quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability [J].Automatica, 1998, 14 (10):1205-1217.

MAYNE D Q, RAWLINGS J B, RAO C V, et al..Constrained model predictive control:stability and optimality [J].Automatica, 2000, 36(6):789-814.

TIMM F, ROLF F.Nonlinear model predictive path-following control [J].Lecture Notes in Control and Information Sciences, 2009, 384:335-343.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰