[1]CHEN Jianping,WANG Jianbin,YANG Yimin.Velocity compensation control for a four-wheel drive robot based on brain emotional learning[J].CAAI Transactions on Intelligent Systems,2013,8(4):361-366.[doi:10.3969/j.issn.1673-4785.201303030]
Copy

Velocity compensation control for a four-wheel drive robot based on brain emotional learning

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 8 Number of periods: 2013 4 Page number: 361-366 Column: 学术论文—智能系统 Public date: 2013-08-25
Title:
Velocity compensation control for a four-wheel drive robot based on brain emotional learning
Author(s):
CHEN Jianping1;  WANG Jianbin2;  YANG Yimin2
1. School of Computer Science, Zhaoqing University, Zhaoqing 526061, China; 2. School of Automation, Guangdong University of Technology, Guangzhou 510090, China
Keywords:
omni-directional mobile robots;  brain emotional learning;  velocity compensation;  trajectory tracking;  motion control
CLC:
TP242.6
DOI:
10.3969/j.issn.1673-4785.201303030
Abstract:
Since there are system nonlinearity and couple relationships in four wheels, even each motor has the optimal parameters, and the whole robot may not be precisely controlled. A velocity compensation controller based on brain emotional learning was applied to the motion control of a four-wheel drive omni-directional mobile robot (FDOMR) in this paper, which contains differential and integral information of robot speed tracking errors. By means of the parameters adjusted through online learning of weight of every node inside the computing model, adaptive compensation of four wheels’ speed was achieved. The simulation results show that the influence produced by non-linear disturbance is effectively decreased; as a result, the system has higher steady-state control precision and faster response speed, greatly increasing the whole velocity and trajectory control precision of the robot.
References:
［1］EFENDI M S, MOHAMED R, SAZALI Y. Designing omni-directional mobile robot with mecanum wheel［J］. American Journal of Applied Sciences, 2006, 3(5): 1831-1835.
［2］BAHAA I K, ALI H H, MUSTAFA M M. Modified vector field histogram with a neural network learning model for mobile robot path planning and obstacle avoidance［J］. International Jouranl of Advancements in Computing Technology, 2010, 2(5): 166-173.
［3］ALI H H, FATIMA B I. Path lanning of mobile robot based on modification of vector field histogram using neuro-fuzzy algorithm［J］. International Journal of Advancements in Computing Technology, 2010, 2(3): 129-138.
［4］MARYAM R, MOHAMMAD H K, MOHAMMAD A N, et al. Designing the fuzzy controller in mobile robot navigation with the presence of unknown obstacles［J］. International Journal of Intelligent Information Processing, 2012, 3(1): 45-62
［5］ALBERTO V, CARL T, BENGT L, et al. Modeling and optimization of energy consumption in cooperative multi-robot systems［J］. IEEE Transactions on Automation Science and Engineering, 2012, 9(2): 423-428.
［6］ELEFTHERIA S S, GEORGE S S, ANASTASIOS D P. Optimal robot speed trajectory by minimization of the actuator motor electromechanical losses［J］. Journal of Intelligent and Robotic Systems, 2002, 33: 187-207.
［7］熊蓉, 张翮, 褚健, 等. 四轮全方位移动机器人的建模和最优控制［J］.控制理论与应用, 2006, 23(1): 96-98. 
        XIONG Rong, ZHANG He, CHU Jian, et al. Modeling and optimal control of omni-directional mobile robots［J］. Control Theory and Applications, 2006, 23(1): 96-98.
［8］曹洋, 徐心和. 一种基于交叉耦合的速度控制器［J］.东北大学学报, 2003, 24(5): 420-423. 
        CAO Yang, XU Xinhe. Crosscoupling speed controller［J］. Journal of Northeastern University, 2003, 24(5): 420-423.
［9］兰天, 刘伊威, 陈养彬, 等. 机器人灵巧手基关节交叉耦合同步控制［J］. 机器人, 2010, 32(2): 150-156. 
        LAN Tian, LIU Yiwei, CHEN Yangbin, et al. Synchronized cross-coupled control for base joint of dexterous robot hand［J］. Robot, 2010, 32(2): 150-156.
［10］匡建辉, 杨宜民. 基于模糊PD控制的四轮驱动全向移动机器人速度补偿控制器研究［J］. 计算技术与自动化, 2011, 30(1): 21-25.
        KUANG Jianhui, YANG Yimin. Velocity compensate controller of four-wheel drive omni-directional mobile robots based on fuzzy-PD control method［J］. Computing Technology and Automation, 2011, 30(1): 21-25.
［11］LUCAS C, SHAHMIRZADI D, SHEIKHOLESLAMI N. Introducing BELBIC: brain emotional learning based intelligent controller［J］. International Journal of Intelligent Automation and Soft Computing, 2004, 10(1): 11-22.
［12］MEHRABIAN A R, LUCAS C. Emotional learning based intelligent robust adaptive controller for stable uncertain nonlinear systems［J］. International Journal of Computational Intelligence, 2005, 2(4): 1304-4508.
［13］CHEN J P, WANG J B, YANG Y M. A motion control method of four-wheel drive omni-directional mobile robots based on multi points preview control［J］. Journal of Theoretical and Applied Information Technology, 2012, 45(1): 278-284.
Similar References:

Memo

-

Last Update: 2013-09-27

Copyright © CAAI Transactions on Intelligent Systems