Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels
Source abstract
Abstract
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.
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Research context
OpenAlex topics: Control and Dynamics of Mobile Robots · Fuzzy Logic and Control Systems · Adaptive Control of Nonlinear Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Faculty of Mechanical Engineering and Aeronautics, Rzeszow University of Technology, 35-959 Rzeszow, Poland
References (62)
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