A novel self-tuning proportional–integral–derivative controller based on a radial basis function network for trajectory tracking of service robots

Author:

Yuan Mingxin12,Cheng Shuai1,Jiang Yafeng1,Wang Sunan2

Affiliation:

1. Department of Mechatronics Engineering, School of Mechanical, Electronic and Automobile Engineering, Jiangsu University of Science and Technology, Zhangjiagang, China

2. Department of Mechatronics Engineering, School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an, China

Abstract

To solve the trajectory tracking of service robots in autonomous navigation, a novel self-tuning proportional–integral–derivative controller identified by a radial basis function neural network (radial basis function proportional–integral–derivative controller) is presented. The error regarding the lateral distance and directional deviation angle of the service robot is taken as the control deviation in the radial basis function proportional–integral–derivative controller. During the trajectory tracking, the proportional–integral–derivative parameters of the proposed controller can be adaptively adjusted online by using a radial basis function identification network. To keep the tracking effect of the service robot from being influenced by the initial values (i.e. the initial proportional–integral–derivative parameters and their learning rates) of the radial basis function proportional–integral–derivative controller, a chaos small-world algorithm is introduced to optimize them. The simulation results of the trajectory tracking show that the proposed controller can realize online adjustment of proportional–integral–derivative parameters according to actual conditions of service robots and is characterized by strong noise and disturbance suppression capability. The optimization of the radial basis function network controller based on chaos small-world algorithm can further improve the trajectory tracking precision. Additionally, experiments in the indoor environment further support the validity of the proposed radial basis function proportional–integral–derivative controller for trajectory tracking of service robots.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Control and Systems Engineering

Cited by 4 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

1. Application of the Improved Rapidly Exploring Random Tree Algorithm to an Insect-like Mobile Robot in a Narrow Environment;Biomimetics;2023-08-17

2. Trajectory tracking control for wheeled mobile robot subject to generalized torque constraints;Transactions of the Institute of Measurement and Control;2022-11-28

3. Implementation a fractional-order adaptive model-based PID-type sliding mode speed control for wheeled mobile robot;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;2019-05-19

4. Research on visual segmentation and localization of multi-robots under different lighting conditions;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;2015-06-09

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