Neural networks‐based sliding mode tracking control for the four wheel‐legged robot under uncertain interaction
When considering the accuracy of tracking control, physical interaction such as structural uncertainties and external dynamics is the main challenge in actual engineering scenarios, especially for the complex robot system. In this article, a neural network‐based sliding mode tracking control scheme...
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| Published in | International journal of robust and nonlinear control Vol. 31; no. 9; pp. 4306 - 4323 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Bognor Regis
Wiley Subscription Services, Inc
01.06.2021
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1049-8923 1099-1239 |
| DOI | 10.1002/rnc.5473 |
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| Abstract | When considering the accuracy of tracking control, physical interaction such as structural uncertainties and external dynamics is the main challenge in actual engineering scenarios, especially for the complex robot system. In this article, a neural network‐based sliding mode tracking control scheme (SMCR) is presented for the developed four wheel‐legged robot (BIT‐NAZA) under the uncertain interaction. First, a non‐singular fast terminal function based on the kinematic model is proposed for path tracking, which improves the motion quality during the approach movement and the sliding mode movement. At the same time, it can reduce the influence of uncertain disturbances on the premise of ensuring the path tracking control accuracy via neural networks. Finally, some demonstrations using the autonomous platform of the BIT‐NAZA robot are employed to evaluate the robustness and effectiveness of the hybrid algorithm. |
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| AbstractList | When considering the accuracy of tracking control, physical interaction such as structural uncertainties and external dynamics is the main challenge in actual engineering scenarios, especially for the complex robot system. In this article, a neural network‐based sliding mode tracking control scheme (SMCR) is presented for the developed four wheel‐legged robot (BIT‐NAZA) under the uncertain interaction. First, a non‐singular fast terminal function based on the kinematic model is proposed for path tracking, which improves the motion quality during the approach movement and the sliding mode movement. At the same time, it can reduce the influence of uncertain disturbances on the premise of ensuring the path tracking control accuracy via neural networks. Finally, some demonstrations using the autonomous platform of the BIT‐NAZA robot are employed to evaluate the robustness and effectiveness of the hybrid algorithm. |
| Author | Wu, Qingbin Li, Jing Wang, Junzheng Li, Jiehao |
| Author_xml | – sequence: 1 givenname: Jing surname: Li fullname: Li, Jing organization: Beijing Institute of Technology – sequence: 2 givenname: Qingbin surname: Wu fullname: Wu, Qingbin organization: Beijing Institute of Technology – sequence: 3 givenname: Junzheng surname: Wang fullname: Wang, Junzheng organization: Beijing Institute of Technology – sequence: 4 givenname: Jiehao orcidid: 0000-0002-4946-4434 surname: Li fullname: Li, Jiehao email: jiehao.li@ieee.org organization: Beijing Institute of Technology |
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| SubjectTerms | Algorithms Mode tracking Movement Neural networks Path tracking physical interaction Robots Sliding mode control Tracking control wheel‐legged robot |
| Title | Neural networks‐based sliding mode tracking control for the four wheel‐legged robot under uncertain interaction |
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