Adaptive control of nonlinear PID-based analog neural networks for a nonholonomic mobile robot

作者：Ye Jun^*

来源：Neurocomputing, 2008, 71(7-9): 1561-1565.

DOI：10.1016/j.neucom.2007.04.014

• nonlinear PID
• analog neural network
• nonholonomic mobile robot
• adaptive control

An adaptive controller of nonlinear PID-based analog neural networks is developed for the velocity- and orientation-tracking control of a nonholonomic mobile robot. A superb mixture of a conventional PID controller and a neural network, which has powerful capability of continuously online learning, adaptation and tackling nonlinearity, brings us the novel nonlinear PID-based analog neural network controller. It is appropriate for a kind of plant with nonlinearity uncertainties and disturbances. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity- and orientation-tracking control of the nonholonomic mobile robot. The effectiveness of the proposed control algorithm is demonstrated through the simulation experiment, which shows its superior performance and disturbance rejection.

• 出版日期2008-3
• 单位绍兴文理学院