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dc.contributor.author
Rossomando, Francisco Guido
dc.contributor.author
Soria, Carlos Miguel
dc.date.available
2016-03-23T15:01:02Z
dc.date.issued
2014-12
dc.identifier.citation
Rossomando, Francisco Guido; Soria, Carlos Miguel; Identification and control of nonlinear dynamics of a mobile robot in discrete time using an adaptive technique based on neural PID; Springer; Neural Computing And Applications; 26; 5; 12-2014; 1179-1191
dc.identifier.issn
0941-0643
dc.identifier.uri
http://hdl.handle.net/11336/4916
dc.description.abstract
In this work, original results, concerning the application of a discrete-time adaptive PID neural controller in mobile robots for trajectory tracking control, are reported. In this control strategy, the exact dynamical model of the robot does not need to be known, but a neural network is used to identify the dynamic model. To implement this strategy, two controllers are implemented separately: a kinematic controller and an adaptive neural PID controller. The uncertainty and variations in the robot dynamics are compensated by an adaptive neural PID controller. It is efficient and robust in order to achieve a good tracking performance. The stability of the proposed technique, based on the discrete-time Lyapunov's theory, is proven. Finally, experiments on the mobile robot have been developed to show the performance of the proposed technique, including the comparison with a classical PID.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
Springer
dc.rights
info:eu-repo/semantics/openAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
Mimo System
dc.subject
Neural Networks
dc.subject
Nonlinear Control
dc.subject
Adaptive Control
dc.subject.classification
Control Automático y Robótica
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
dc.title
Identification and control of nonlinear dynamics of a mobile robot in discrete time using an adaptive technique based on neural PID
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2016-03-30 10:35:44.97925-03
dc.journal.volume
26
dc.journal.number
5
dc.journal.pagination
1179-1191
dc.journal.pais
Alemania
dc.journal.ciudad
Berlin
dc.description.fil
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.description.fil
Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.journal.title
Neural Computing And Applications
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://link.springer.com/article/10.1007%2Fs00521-014-1805-8
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1007/s00521-014-1805-8
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/10.1007/s00521-014-1805-8
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