CASCADE SLIDING CONTROL FOR TRAJECTORY TRACKING OF A NONHOLONOMIC MOBILE ROBOT WITH ADAPTIVE NEURAL COMPENSATOR. Q2 (2017)

FLAVIO CAPRARO; ROSSOMANDO FRANCISCO; CARLOS SORIA; GUSTAVO SCAGLIA

MATHEMATICAL PROBLEMS IN ENGINEERING

HINDAWI PUBLISHING CORPORATION

Lugar: New York; Año: 2017

1024-123X

In this paper a design of sliding mode controllers (SMC) with adaptivecapacity is presented. This control technique is formed by two cascaded SMCcontrollers, one of them having an adaptive neural compensator (ANC); both are puton a WMR (wheeled mobile robot).The mobile robot is divided into a kinematics and a dynamics structure, the first SMCcontroller acts only on the kinematic structure and the SMC with neural adaptivecompensator on the other one. The dynamic SMC was designed applying an inversedynamic controller and using the model dynamics of the WMR. The Adaptive Neuralcompensation (ANC) was used in order to reduce the control error caused by thedynamics variations but it conveys a residual approx. error, so a sliding part wasdesigned to cancel such error.This technique allows achieving the control objective despite parameter variations andexternal disturbances that take place in the dynamics; on the other hand, the ANC canadjust its neural parameters to reduce the dynamics variations of the WMR and thusimprove the trajectory tracking control. Problems of convergence and stability aretreated and design rules based on Lyapunov?s theorem are given.