SLIDING MODE NEURO-ADAPTIVE CONTROLLER DESIGNED IN DISCRETE TIME FOR MOBILE ROBOTS, 55-63.
Francisco G. Rossomando, Carlos Soria, Eduardo O. Freire, and Ricardo O. Carelli
Keywords
Adaptive neural control, nonlinear systems, mobile robot, sliding mode control.
Abstract
It is well known that all robotic systems have additional dynamics
and disturbances beyond those that are modelled. Hence, in this
paper, the performance of a neuro-adaptive sliding mode control
(NA-SMC) controller is analysed in the presence of disturbances
and unmodelled dynamics. The proposed control strategy has two
stages: first, a feedback linearization controller for a kinematic
model; second, a neuro-adaptive SMC controller for a dynamic
model. The entire control strategy is designed in discrete time using
Lyapunov’s criterion, and the stability problems caused by direct
implementation in discrete time to a system designed in a continuous
domain are thereby avoided. The unmodelled dynamics introduce
tracking errors in the closed-loop system; however, experiments
made using the proposed approach to control mobile robots show
that output tracking error tends to zero.
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