Neural Adaptive Robust Finite-Time Control of Tractor-Trailer Wheeled Mobile Robot via Input-Output Feedback Linearization Technique

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

Kazemipour Malihe; Shojaei Khoshnam

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Download Full-Text

Persian Verion

View:

284

Download:

Cites:

Information Journal Paper

Title

Neural Adaptive Robust Finite-Time Control of Tractor-Trailer Wheeled Mobile Robot via Input-Output Feedback Linearization Technique

Author(s)

Kazemipour Malihe | Shojaei Khoshnam | Issue Writer Certificate

Keywords

Feedback linearizationQ1

finite timeQ1

neural network robust adaptive controlQ1

non-holonomic constraintsQ1

tractor-trailer mobile robotQ1

Abstract

The reference trajectory tracking is one of the most important issues in the field of tractor-trailer wheeled mobile robots control. In this paper, the trajectory tracking control issues of a tractor-trailer wheeled mobile robot has been significantly solved in the presence of structural uncertainties, non-holonomic constraints and external disturbance. The proposed scheme is based on a design that the tractor-trailer’ s state space representation is extracted from its dynamic and kinematic models and presented in a companion form at first. In the following, by considering the state space representation of system, the control algorithm is presented including two external and internal control loops. Toward this end, the control law has been developed in the inner loop via input-output Feedback linearization in a nonlinear feedback form which is continuously eliminating the nonlinear dynamics of the system. Then, by using a combination of the output that is produced in linearization steps with a terminal sliding mode control algorithm and sketching a neural robust adaptive finite time controller in the outer loop, the accurate and fast performance of the closed loop system has been guaranteed in the presence of uncertainties. The proposed control algorithm finally guarantees the boundedness of closed-loop signals and accurate finite time convergence of tracking errors. At the end, the effectiveness of the proposed scheme has been demonstrated and shown through the extended Lyapunov theorem and simulated by MATLAB application.

Cites

No record.

References

No record.

Cite

APA: Copy

Kazemipour, Malihe, & Shojaei, Khoshnam. (2020). Neural Adaptive Robust Finite-Time Control of Tractor-Trailer Wheeled Mobile Robot via Input-Output Feedback Linearization Technique. JOURNAL OF INTELLIGENT PROCEDURES IN ELECTRICAL TECHNOLOGY, 11(42 ), 57-78. SID. https://sid.ir/paper/390574/en

Vancouver: Copy

Kazemipour Malihe, Shojaei Khoshnam. Neural Adaptive Robust Finite-Time Control of Tractor-Trailer Wheeled Mobile Robot via Input-Output Feedback Linearization Technique. JOURNAL OF INTELLIGENT PROCEDURES IN ELECTRICAL TECHNOLOGY[Internet]. 2020;11(42 ):57-78. Available from: https://sid.ir/paper/390574/en

IEEE: Copy

Malihe Kazemipour, and Khoshnam Shojaei, “Neural Adaptive Robust Finite-Time Control of Tractor-Trailer Wheeled Mobile Robot via Input-Output Feedback Linearization Technique,” JOURNAL OF INTELLIGENT PROCEDURES IN ELECTRICAL TECHNOLOGY, vol. 11, no. 42 , pp. 57–78, 2020, [Online]. Available: https://sid.ir/paper/390574/en

Related Journal Papers