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http://dx.doi.org/10.5302/J.ICROS.2014.14.0107

Design of an RBFN-based Adaptive Tracking Controller for an Uncertain Mobile Robot  

Shin, Jin-Ho (Department of Mechatronics Engineering, Dong-eui University)
Baek, Woon-Bo (Department of Mechatronics Engineering, Dong-eui University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.12, 2014 , pp. 1238-1245 More about this Journal
Abstract
This paper proposes an RBFN-based adaptive tracking controller for an electrically driven mobile robot with parametric uncertainties and external disturbances. A mobile robot model considered in this paper includes all models of the robot body and actuators with uncertain kinematic and dynamic parameters, and uncertain frictions and external disturbances. The proposed controller consists of an RBFN(Radial Basis Function Network) and a robust adaptive controller. The presented RBFN is used to approximate unknown nonlinear robot dynamic functions. The proposed controller is adjusted by the adaptation laws obtained through the Lyapunov stability analysis. The proposed control scheme does not a priori need the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. Also, nominal parameter values are not required in the controller. The global stability of the closed-loop robot control system is guaranteed using the Lyapunov stability theory. Simulation results show the validity and robustness of the proposed control scheme.
Keywords
mobile robot; radial basis function network; adaptive tracking control; actuator dynamics; uncertainties;
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Times Cited By KSCI : 1  (Citation Analysis)
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