Robust adaptive neural network control for environmental boundary tracking by mobile robots

SUMMARY The paper addresses the problem of environmental boundary tracking for the nonholonomic mobile robot with uncertain dynamics and external disturbances. To do environmental boundary tracking, a reference velocity is designed for the nonholonomic mobile robot. In this paper, a radial basis function neural network (NN) is used to approximate a nonlinear function containing the uncertain model terms and the elements of the Hessian matrix of the environmental concentration function. Then, the NN approximator is combined with a robust control to construct a robust adaptive NN control for the mobile robot to track the desired environment boundary. It is proved that the tracking error can be guaranteed to converge to zero in the ultimate. Simulation results are presented to illustrate the stability of the robust adaptive control. Copyright © 2011 John Wiley & Sons, Ltd.

[1]  Frank L. Lewis,et al.  Neural network output feedback control of robot manipulators , 1999, IEEE Trans. Robotics Autom..

[2]  M. Kemp,et al.  Multi-UUV perimeter surveillance , 2004, 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578).

[3]  Mohd Azlan Hussain,et al.  Adaptive sliding mode control with neural network based hybrid models , 2004 .

[4]  Antonios Tsourdos,et al.  Dubins Path Planning of Multiple UAVs for Tracking Contaminant Cloud , 2008 .

[5]  Dong Xu,et al.  Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators: Robust Neural Network-Based Sliding Mode Approach , 2009, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[6]  Frank L. Lewis,et al.  Control of a nonholonomic mobile robot using neural networks , 1998, IEEE Trans. Neural Networks.

[7]  Tao Zhang,et al.  Stable Adaptive Neural Network Control , 2001, The Springer International Series on Asian Studies in Computer and Information Science.

[8]  A. Tsourdos,et al.  Pythagorean Hodograph (PH) Path Planning for Tracking Airborne Contaminant using Sensor Swarm , 2008, 2008 IEEE Instrumentation and Measurement Technology Conference.

[9]  F. Bullo,et al.  Monitoring environmental boundaries with a robotic sensor network , 2006 .

[10]  R. Fierro,et al.  Cooperative hybrid control of robotic sensors for perimeter detection and tracking , 2005, Proceedings of the 2005, American Control Conference, 2005..

[11]  Sarangapani Jagannathan,et al.  Asymptotic Adaptive Neural Network Tracking Control of Nonholonomic Mobile Robot Formations , 2009, J. Intell. Robotic Syst..

[12]  Sarangapani Jagannathan,et al.  Output Feedback Control of a Quadrotor UAV Using Neural Networks , 2010, IEEE Transactions on Neural Networks.

[13]  Chiman Kwan,et al.  Robust adaptive control of robots using neural network: global tracking stability , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[14]  Sonia Martínez,et al.  Monitoring Environmental Boundaries With a Robotic Sensor Network , 2006, IEEE Transactions on Control Systems Technology.

[15]  Ian D. Walker,et al.  A Neural Network Controller for Continuum Robots , 2007, IEEE Transactions on Robotics.

[16]  Naomi Ehrich Leonard,et al.  Exploring scalar fields using multiple sensor platforms: Tracking level curves , 2007, 2007 46th IEEE Conference on Decision and Control.

[17]  Sai-Ming Li,et al.  Forest fire monitoring with multiple small UAVs , 2005, Proceedings of the 2005, American Control Conference, 2005..

[18]  Andrea L. Bertozzi,et al.  Environmental boundary tracking and estimation using multiple autonomous vehicles , 2007, 2007 46th IEEE Conference on Decision and Control.

[19]  Chih-Min Lin,et al.  Neural-network hybrid control for antilock braking systems , 2003, IEEE Trans. Neural Networks.

[20]  Frank L. Lewis,et al.  Neural Network Control Of Robot Manipulators And Non-Linear Systems , 1998 .

[21]  Roberto Kawakami Harrop Galvão,et al.  Adaptive control for mobile robot using wavelet networks , 2002, IEEE Trans. Syst. Man Cybern. Part B.

[22]  Naomi Ehrich Leonard,et al.  Cooperative Filters and Control for Cooperative Exploration , 2010, IEEE Transactions on Automatic Control.

[23]  Rafael Fierro,et al.  Mobile robotic sensors for perimeter detection and tracking. , 2007, ISA transactions.

[24]  Naomi Ehrich Leonard,et al.  Generating contour plots using multiple sensor platforms , 2005, Proceedings 2005 IEEE Swarm Intelligence Symposium, 2005. SIS 2005..

[25]  Petter Ögren,et al.  Cooperative control of mobile sensor networks:Adaptive gradient climbing in a distributed environment , 2004, IEEE Transactions on Automatic Control.

[26]  Andrea L. Bertozzi,et al.  Determining Environmental Boundaries: Asynchronous Communication and Physical Scales , 2005 .

[27]  A. Tsourdos,et al.  Contaminant Cloud Boundary Monitoring Using Network of UAV Sensors , 2008, IEEE Sensors Journal.

[28]  M. W. Dunlop,et al.  Least-squares gradient calculation from multi-point observations of scalar and vector fields: methodology and applications with Cluster in the plasmasphere , 2007 .

[29]  Timothy W. McLain,et al.  Cooperative forest fire surveillance using a team of small unmanned air vehicles , 2006, Int. J. Syst. Sci..

[30]  Ying-Shieh Kung,et al.  Adaptive wavelet neural network control for linear synchronous motor servo drive , 2005 .