TY - GEN
T1 - Point stabilization of mobile robots by genetic sliding mode approach with neural dynamics model on uneven surface
AU - Cao, Zhengcai
AU - Zhao, Yingtao
AU - Fu, Yili
PY - 2012
Y1 - 2012
N2 - In this work, a novel point stabilization control strategy for mobile robots which moves on uneven surface is presented. Firstly, sliding mode method is adopted to extend the nonlinear kenimatic control law to dynamic system, so that the robot is driven by torques. Then, to solve the speed and torque jump problem, the neural dynamics model is integrated into the presented controller. In addition, we utilize genetic algorithm (GA) to optimize the controller parameters for obtaining better stabilization performance. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme.
AB - In this work, a novel point stabilization control strategy for mobile robots which moves on uneven surface is presented. Firstly, sliding mode method is adopted to extend the nonlinear kenimatic control law to dynamic system, so that the robot is driven by torques. Then, to solve the speed and torque jump problem, the neural dynamics model is integrated into the presented controller. In addition, we utilize genetic algorithm (GA) to optimize the controller parameters for obtaining better stabilization performance. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme.
UR - https://www.scopus.com/pages/publications/84872574102
U2 - 10.1109/CoASE.2012.6386306
DO - 10.1109/CoASE.2012.6386306
M3 - 会议稿件
AN - SCOPUS:84872574102
SN - 9781467304283
T3 - IEEE International Conference on Automation Science and Engineering
SP - 1150
EP - 1155
BT - 2012 IEEE International Conference on Automation Science and Engineering
T2 - 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
Y2 - 20 August 2012 through 24 August 2012
ER -