文章基本信息

标题：Mobile robot nonlinear feedback control based on Elman neural network observer:
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作者：Khaled Al-Mutib ; Fodil Abdessemed ; Ramdane Hedjar 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2015
卷号：7
期号：12
页码：1-14
DOI：10.1177/1687814015620328
语种：English
出版社：Sage Publications Ltd.
摘要：This article presents a new approach to control a wheeled mobile robot without velocity measurement. The controller developed is based on kinematic model as well as dynamics model to take into account parameters of dynamics. These parameters related to dynamic equations are identified using a proposed methodology. Input–output feedback lineariza?tion is considered with a slight modification in the mathematical expressions to implement the dynamic controller and analyze the nonlinear internal behavior. The developed controllers require sensors to obtain the states needed for the closed-loop system. However, some states may not be available due to the absence of the sensors because of the cost, the weight limitation, reliability, induction of errors, failure, and so on. Particularly, for the velocity measurements, the required accuracy may not be achieved in practical applications due to the existence of significant errors induced by sto?chastic or cyclical noise. In this article, Elman neural network is proposed to work as an observer to estimate the velo?city needed to complete the full state required for the closed-loop control and account for all the disturbances and model parameter uncertainties. Different simulations are carried out to demonstrate the feasibility of the approach in tracking different reference trajectories in comparison with other paradigms.
关键词：Nonholonomic mobile robot; input–output feedback linearization; Elman neural network; observer