TY - GEN
T1 - Adaptive NN-based tracking control for partial uncertain time-delayed WMR system
AU - Ding, Liang
AU - Li, Shu
AU - Gao, Haibo
AU - Gao, Ying
AU - Deng, Zongquan
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In this paper, an adaptive neural network (NN)-based tracking control algorithm is proposed for the partial uncertain state time-delayed wheeled mobile robotic (WMR) system with. By using the backstepping method, and the appropriate Lyapunov-Krasovskii functionals, a suitable adaptive controllers is designed for the WMR system such that 1) eliminate the influence of partial uncertain time delay on system stability; 2) ensure all signals in WMR system to be bounded; 3) guarantee the robot can track the desired trajectory with the error convergence to a compact set by zero. The numerical simulation results verify the performance of the proposed control algorithm. Keywords-Adaptive control, neural network, partial time delay, wheeled mobile robot, Lyapunov function.
AB - In this paper, an adaptive neural network (NN)-based tracking control algorithm is proposed for the partial uncertain state time-delayed wheeled mobile robotic (WMR) system with. By using the backstepping method, and the appropriate Lyapunov-Krasovskii functionals, a suitable adaptive controllers is designed for the WMR system such that 1) eliminate the influence of partial uncertain time delay on system stability; 2) ensure all signals in WMR system to be bounded; 3) guarantee the robot can track the desired trajectory with the error convergence to a compact set by zero. The numerical simulation results verify the performance of the proposed control algorithm. Keywords-Adaptive control, neural network, partial time delay, wheeled mobile robot, Lyapunov function.
KW - Adaptive control
KW - Lyapunov function
KW - neural network
KW - partial time delay
KW - wheeled mobile robot
UR - https://www.scopus.com/pages/publications/85062571376
U2 - 10.1109/RCAR.2018.8621674
DO - 10.1109/RCAR.2018.8621674
M3 - 会议稿件
AN - SCOPUS:85062571376
T3 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
SP - 118
EP - 123
BT - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Y2 - 1 August 2018 through 5 August 2018
ER -