Delay Dependent Stability in the Real Time Control of a Mobile Robot Using Neural Networks

Author

Chaitanya, V. Sree Krishna ; Patro, P. Dwarikanath ; Sarkar, Prabir Kumar

Author_Institution

Indian Sch. of Mines, Dhanbad

fYear

2007

fDate

20-23 June 2007

Firstpage

95

Lastpage

100

Abstract

In this paper a nonholonomic mobile robot with completely unknown dynamics is considered. An efficient single layered neural network controller is assumed for the real time path tracking control of the mobile robot. The controller takes advantage of the robot regressor dynamics that express the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot dynamic parameters. The influence of time delays in the input control torque on the stability of the mobile robot motion has been studied. The present work enables to estimate the maximum admissible time delay in the input control torque with out the loss of stability in robot motion and guaranteed tracking performance.

Keywords

delays; mobile robots; neurocontrollers; nonlinear control systems; path planning; robot dynamics; stability; torque control; delay dependent stability; input control torque; nonholonomic mobile robot; nonlinear robot dynamics; real time path tracking control; robot motion; single layered neural network controller; Delay effects; Delay estimation; Mobile robots; Motion control; Motion estimation; Neural networks; Robot control; Robot motion; Stability; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2007. CIRA 2007. International Symposium on

Conference_Location

Jacksonville, FI

Print_ISBN

1-4244-0790-7

Electronic_ISBN

1-4244-0790-7

Type

conf

DOI

10.1109/CIRA.2007.382844

Filename

4269844