کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
409158 | 679057 | 2008 | 5 صفحه PDF | دانلود رایگان |
An adaptive controller of nonlinear PID-based analog neural networks is developed for the velocity- and orientation-tracking control of a nonholonomic mobile robot. A superb mixture of a conventional PID controller and a neural network, which has powerful capability of continuously online learning, adaptation and tackling nonlinearity, brings us the novel nonlinear PID-based analog neural network controller. It is appropriate for a kind of plant with nonlinearity uncertainties and disturbances. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity- and orientation-tracking control of the nonholonomic mobile robot. The effectiveness of the proposed control algorithm is demonstrated through the simulation experiment, which shows its superior performance and disturbance rejection.
Journal: Neurocomputing - Volume 71, Issues 7–9, March 2008, Pages 1561–1565