Desenho e implementação de um PID Neuronal Adaptável para Dinâmicas Não lineares em Robôs Móveis (Design and Implementation of Adaptive Neural PID for Non Linear Dynamics in Mobile Robots)

Francisco Rossomando (frosoma@inaut.unsj.edu.ar), Carlos Soria (csoria@inaut.unsj.edu.ar)


Instituto de Automatica
This paper appears in: Revista IEEE América Latina

Publication Date: April 2015
Volume: 13,   Issue: 4 
ISSN: 1548-0992


Abstract:
In this work, it will be reported original results concerning the application of PID Adaptive Neural controller in mobile robot in trajectory tracking control. In this control strategy the exact dynamical model of the robot will not need to be known and identified. To implement this strategy, two controllers are implemented separately: a kinematic controller and an adaptive neural PID controller. The uncertainty and dynamics variations in the robot dynamic are compensated by an adaptive neural PID controller. The resulting adaptive neural PID controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance. The stability of the proposed technique (based on Lyapunov's theory) was demonstrated. Finally, experiments on a mobile robot have been developed to show the performance of the proposed technique, including the comparison with other controllers.

Index Terms:
MIMO system, Nonlinear control, adaptive control, Neural Networks   


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