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Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels
| Content Provider | MDPI |
|---|---|
| Author | Szeremeta, Mateusz Szuster, Marcin |
| Copyright Year | 2022 |
| Description | This study designed an algorithm for the intelligent control of the motion of a mobile robot with mecanum wheels. After reviewing the model kinematics and dynamics of the robot, we conducted a synthesis of the neural control algorithm to determine network weight adaptation, according to Lyapunov stability theory. Using a MATLAB/Simulink computing environment, we developed a numerical simulation for the implementation of the robot’s motion path with parametric disturbances acting on the control object. To determine the quality of the implementation of the desired motion path, a numerical test of the robot’s motion, controlled with the use of a PD controller, was conducted. The proposed control algorithm was verified on a laboratory stand equipped with a dSpace DS1103 controller board and a Husarion Panther four-wheeled mobile robot with mecanum wheels. The conducted research confirmed the improved implementation of the desired motion path by a robot controlled with the use of an intelligent control system. |
| Starting Page | 5322 |
| e-ISSN | 20763417 |
| DOI | 10.3390/app12115322 |
| Journal | Applied Sciences |
| Issue Number | 11 |
| Volume Number | 12 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2022-05-24 |
| Access Restriction | Open |
| Subject Keyword | Applied Sciences Wheeled Mobile Robot Intelligent Control Tracking Control Neural Networks Mecanum Wheels Lyapunov Stability Theory |
| Content Type | Text |
| Resource Type | Article |
