NDLI: Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators: Robust Neural Network-Based Sliding Mode Approach

Content Provider	IEEE Xplore Digital Library
Author	Dong Xu Dongbin Zhao Jianqiang Yi Xiangmin Tan
Copyright Year	1996
Abstract	This paper addresses the robust trajectory tracking problem for a redundantly actuated omnidirectional mobile manipulator in the presence of uncertainties and disturbances. The development of control algorithms is based on sliding mode control (SMC) technique. First, a dynamic model is derived based on the practical omnidirectional mobile manipulator system. Then, a SMC scheme, based on the fixed large upper boundedness of the system dynamics (FLUBSMC), is designed to ensure trajectory tracking of the closed-loop system. However, the FLUBSMC scheme has inherent deficiency, which needs computing the upper boundedness of the system dynamics, and may cause high noise amplification and high control cost, particularly for the complex dynamics of the omnidirectional mobile manipulator system. Therefore, a robust neural network (NN)-based sliding mode controller (NNSMC), which uses an NN to identify the unstructured system dynamics directly, is further proposed to overcome the disadvantages of FLUBSMC and reduce the online computing burden of conventional NN adaptive controllers. Using learning ability of NN, NNSMC can coordinately control the omnidirectional mobile platform and the mounted manipulator with different dynamics effectively. The stability of the closed-loop system, the convergence of the NN weight-updating process, and the boundedness of the NN weight estimation errors are all strictly guaranteed. Then, in order to accelerate the NN learning efficiency, a partitioned NN structure is applied. Finally, simulation examples are given to demonstrate the proposed NNSMC approach can guarantee the whole system's convergence to the desired manifold with prescribed performance.
Page Count	12
File Size	452625
Starting Page	788
Ending Page	799
File Format	PDF
ISSN	10834419
Volume Number	39
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Sliding mode control Robust control Neural networks Manipulator dynamics Control systems Convergence Robustness Uncertainty Costs uncertainties Omnidirectional mobile manipulators robust neural network (NN) sliding mode control (SMC) trajectory tracking control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Information Systems Electrical and Electronic Engineering Human-Computer Interaction Computer Science Applications Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Trajectory tracking control of omnidirecitonal wheeled mobile manipulators: Robust neural network based sliding mode approach

Sliding mode control for trajectory tracking on mobile manipulators

Hybrid sliding-mode fuzzy neural network tracking control for a wheeled mobile manipulator

Neural-Network-Based Terminal Sliding-Mode Control of Robotic Manipulators Including Actuator Dynamics

Tracking control of mobile manipulator with dynamical uncertainties

Adaptive Robust Trajectory and Force Tracking Control of Constrained Mobile Manipulators

Hybrid robust tracking control for a mobile manipulator via sliding-mode neural network

Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots

Adaptive Sliding-mode Robust Tracking Control for Robot Manipulator with the Uncertainties

Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators: Robust Neural Network-Based Sliding Mode Approach

Similar Documents

Trajectory tracking control of omnidirecitonal wheeled mobile manipulators: Robust neural network based sliding mode approach

Sliding mode control for trajectory tracking on mobile manipulators

Hybrid sliding-mode fuzzy neural network tracking control for a wheeled mobile manipulator

Neural-Network-Based Terminal Sliding-Mode Control of Robotic Manipulators Including Actuator Dynamics

Tracking control of mobile manipulator with dynamical uncertainties

Adaptive Robust Trajectory and Force Tracking Control of Constrained Mobile Manipulators

Hybrid robust tracking control for a mobile manipulator via sliding-mode neural network

Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots

Adaptive Sliding-mode Robust Tracking Control for Robot Manipulator with the Uncertainties

Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators: Robust Neural Network-Based Sliding Mode Approach