دورية أكاديمية
A Novel Zeroing Neural Network Control Scheme for Tracked Mobile Robot Based on an Extended State Observer
| العنوان: | A Novel Zeroing Neural Network Control Scheme for Tracked Mobile Robot Based on an Extended State Observer |
|---|---|
| المؤلفون: | Yuxuan Cao, Jinyun Pu |
| المصدر: | Applied Sciences, Vol 14, Iss 1, p 303 (2023) |
| بيانات النشر: | MDPI AG, 2023. |
| سنة النشر: | 2023 |
| المجموعة: | LCC:Technology LCC:Engineering (General). Civil engineering (General) LCC:Biology (General) LCC:Physics LCC:Chemistry |
| مصطلحات موضوعية: | tracked mobile robot, extended state observer, fixed time, zeroing neural network, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999 |
| الوصف: | A novel zeroing neural network control scheme based on an extended state observer is proposed for the trajectory tracking of a tracked mobile robot which is subject to unknown external disturbances and uncertainties. To estimate unknown lumped disturbances and unmeasured velocities, a third-order fixed-time extended state observer is proposed, and the observation errors converge to zero in fixed time. Based on the estimated values, the zeroing neural network controller is designed for a tracked mobile robot to track an eight shape. The stability of the system is analyzed based on Lyapunov theory. Simulation results are illustrated to show the effectiveness of the proposed control scheme. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2076-3417 |
| Relation: | https://www.mdpi.com/2076-3417/14/1/303; https://doaj.org/toc/2076-3417 |
| DOI: | 10.3390/app14010303 |
| URL الوصول: | https://doaj.org/article/45b9496270d24782a87a9b3f9d96b91d |
| رقم الأكسشن: | edsdoj.45b9496270d24782a87a9b3f9d96b91d |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 20763417 |
|---|---|
| DOI: | 10.3390/app14010303 |