Cardona Manuel, Serrano Fernando E
Research Department, Universidad Don Bosco, San Salvador 1874, El Salvador.
Sensors (Basel). 2023 Aug 3;23(15):6875. doi: 10.3390/s23156875.
This paper presents the design and synthesis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First, the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasible representation of this kind of robot. Then, two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control; this means that considering that the velocity vector of the mobile robot is orthogonal to its restriction, a dynamic output feedback and neural network controller is designed so that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then, another control strategy is designed for trajectory-tracking purposes, in which similar to the driftless controller, a kinematic control scheme is provided that is suitable to implement in more sophisticated hardware. In both control strategies, a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory, the stability and convergence to the origin of the mobile robot position coordinates are ensured. Finally, two numerical experiments are presented in order to validate the theoretical results synthesized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.
本文介绍了一种用于非完整移动机器人的动态输出反馈神经网络控制器的设计与合成。首先，给出了非完整移动机器人的动态模型，在该模型中考虑了这些约束条件，以便对这类机器人的可行表示进行数学推导。然后，针对这类机器人基于运动控制提供了两种控制策略。第一种控制策略基于无漂移控制；这意味着考虑到移动机器人的速度矢量与其约束条件正交，设计了一种动态输出反馈和神经网络控制器，使得只有当移动机器人的速度为零时控制作用才为零。为了找到合适的控制律，运用了李雅普诺夫稳定性定理。接着，为轨迹跟踪目的设计了另一种控制策略，其中与无漂移控制器类似，提供了一种适合在更复杂硬件中实现的运动控制方案。在这两种控制策略中，都提供了一个动态控制律以及一个前馈神经网络控制器，这样，通过李雅普诺夫理论，确保了移动机器人位置坐标的稳定性和收敛到原点。最后，给出了两个数值实验以验证本研究中合成的理论结果。提供了讨论和结论以分析本研究中得到的结果。
