Article
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Dynamic Output Feedback and Neural Network Control of a Non-Holonomic Mobile Robot
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These authors contributed equally to the work.
Version 1
: Received: 3 June 2023 / Approved: 5 June 2023 / Online: 5 June 2023 (10:00:22 CEST)
A peer-reviewed article of this Preprint also exists.
Cardona, M.; Serrano, F.E. Dynamic Output Feedback and Neural Network Control of a Non-Holonomic Mobile Robot. Sensors 2023, 23, 6875. Cardona, M.; Serrano, F.E. Dynamic Output Feedback and Neural Network Control of a Non-Holonomic Mobile Robot. Sensors 2023, 23, 6875.
Abstract
In this paper is presented the design and syntheis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasable representation for this kind of robot. Then two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control, this means, that considering that the velocity vector of the mobile robot is orthogonal to its restriction a dynamic output feedback and neural network controller is designed in order that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then another control strategy is designed for trajectory tracking purposes, which similar to the driftless controller, a kinematic control scheme is provided but suitable to implement in more sophisticated hardware. In both control strategy a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory the stability and convergence to the origin of the mobile robot position coordinates is ensured. Finally, two numerical experiment are presented in order to validate the theoretical results synthetized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.
Keywords
Mobile Robot; Non-holonomy; Driftless Control
Subject
Computer Science and Mathematics, Robotics
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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