A Stable NRobust Control for Wheeled Robotic System Based on DRNN Network and H∞ Methods
[1]Peng Jinzhu,Bian Yingnan,Zhou Shuliang.A Stable NRobust Control for Wheeled Robotic System Based on DRNN Network and H∞ Methods[J].Journal of Zhengzhou University (Engineering Science),2018,39(04):64-69.[doi:1013705/j.issn.1671-68332018.01.016]
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Journal of Zhengzhou University (Engineering Science)[ISSN
1671-6833/CN
41-1339/T] Volume:
39
Number of periods:
2018 04
Page number:
64-69
Column:
Public date:
2018-07-22
- Title:
- A Stable NRobust Control for Wheeled Robotic System Based on DRNN Network and H∞ Methods
- Keywords:
- Diagonal Recurrent Neural Network; Control Moment Method; H∞ Control; Uncertainty; Lyapunov Stability
- CLC:
- -
- DOI:
- 1013705/j.issn.1671-68332018.01.016
- Abstract:
- In order to solve the modeling errors and external disturbances in the system,a stable robust hybrid tracking control scheme for wheeled robotic system with nonholonomic constraint is proposed. The hybrid control scheme combined DRNN neural network with nonlinear H∞ method. DRNN neural network was employed to approximate the system uncertainty terms,and H∞ control was utilized to achieve a desired robust tracking performance. Based on Lyapunov stability theory, the tracking errors of the closed-loop system were bounded. In addition, a specified H∞ tracking performance was obtained by the proposed robust hybrid control even though the disturbances were merely integral bounded. Finally, the proposed control scheme was compaed with the computed torque control for nonholonomic mobile robotic system under the uncertainties and external disturbances. Simulation experiments showed that the proposed control strategy was effective.
- References:
- -
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Last Update:
2018-07-26