کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
410376 679140 2010 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Design of neural-fuzzy-based controller for two autonomously driven wheeled robot
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Design of neural-fuzzy-based controller for two autonomously driven wheeled robot
چکیده انگلیسی

An intelligent control architecture for two autonomously driven wheeled robot is developed in this paper. Consider the parametric variation, external load disturbance, nonlinear friction, unpredicted and unstructured uncertainties for the practical applications, the transient and unmodelled uncertainty will be occurred. In the proposed control scheme, the fuzzy inference is designated as a main controller and the neural network is an auxiliary part. In the fuzzy controller, the translation width and total sliding surface are adopted to reduce the chattering phenomena. The neural uncertainty observer is added in the balance, speed and synchronous controllers to reduce the accumulated error and ascend the stability. The hardware includes a microcontroller, gyroscope, accelerometer, and two autonomous motors, etc. The effectiveness is verified by simulation and experimental results, and the result is compared with conventional PD control scheme for the same robot.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Neurocomputing - Volume 73, Issues 13–15, August 2010, Pages 2478–2488
نویسندگان
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