中国机械工程2017，Vol.28Issue(2)：150-155,6.DOI:10.3969/j.issn.1004-132X.2017.02.005
不确定轮式移动机器人统一自适应神经网络H∞控制
Unified Adaptive Neural Network H∞ Control of Uncertain Wheeled Mobile Robots
摘要
Abstract
A smooth global unified controller of traj ectory tracking and stabilization was proposed for nonholomomic wheeled mobile robots based on adaptive neural network control and H∞ control. Firstly,the system control inputs were expanded by transverse function method,a nonsingular full drive system which was equivalent to original system was established with decoupled input-output. Then an adaptive neural network H∞ controller was designed for the new system,such that the com-plex system uncertainty was compensated effectively by the adaptive neural network.Disturbances and approximation errors were attenuated with a prescribed disturbance lever by the H∞ control.Adapta-bility of the controller were further improved,and the control performance was optimized.The effec-tiveness of the algorithm were verified by simulation results.关键词
轮式移动机器人/轨迹跟踪与镇定统一控制/自适应神经网络/H∞控制/横截函数Key words
wheeled mobile robot/unified control of traj ectory tracking and stabilization/adaptive neural network/H∞ control/transverse function分类
信息技术与安全科学引用本文复制引用
叶锦华,吴海彬..不确定轮式移动机器人统一自适应神经网络H∞控制[J].中国机械工程,2017,28(2):150-155,6.基金项目
国家自然科学基金资助项目(51175084) （51175084）
福建省自然科学基金资助项目(2015J05121) （2015J05121）
福州大学科研启动基金资助项目(510078) （510078）
福州大学科技发展基金资助项目(650053) （650053）
