Stability of tracking wheel mobile robot with teleoperation fuzzy neural network control system

Author:

Sumathi C. S.1ORCID,Ravi Kumar R.1,Anandhi V.2

Affiliation:

1. Department of Physical Sciences and Information Technology, Agricultural Engineering College and Research Institute, TNAU, Coimbatore, Tamil Nadu, India

2. TPO to the Vice-Chancellor, O/o the Vice Chancellor, TNAU, Coimbatore, Tamil Nadu, India

Abstract

The stability of the Tracking Wheel Mobile Robot with Teleoperation System and Path Following Method is discussed in this study. The path is to be tracked by the host computer which is the master robot. The response from the robot is captured on camera. As the slave robot approaches the target position, the camera captures the response robot’s position and as well as moving trajectory. The host computer receives all of the images, enabling mobile robot deviation recoveries. The slave robot can use teleoperation to follow the sensor based on the decisions made by the master robot. The Lyapunov function in the Fuzzy Neural Network (FNN) control structure assures the system’s stability and satisfactory performance. It supports a mobile robot’s ability to adhere to a reference trajectory without deviating from it. Finally, the outcome of the simulation demonstrates that our controller is capable of tracking different environmental conditions and maintaining stability.

Publisher

World Scientific Pub Co Pte Ltd

Subject

Condensed Matter Physics,Statistical and Nonlinear Physics

Reference14 articles.

1. Control schemes for teleoperation with time delay: A comparative study

2. K. R. Jayasree, P. R. Jayasree and A. Vivek, in Int. Conf. Circuit, Power and Computing Technologies (ICCPCT) (IEEE 2017), pp. 1–6.

3. S. P. Kuo, K. Y. Tsai and Y. G. Leu, in Int. Automatic Control Conf. (CACS) (IEEE, 2020), pp. 1–4.

4. K. Li et al., in 22nd Int. Conf. Control, Automation and Systems (ICCAS), (IEEE, 2022), pp. 950–954.

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3