Study and Experiment on Neural-network-based Feedback Linearization Motion Control for a Spherical Mobile Robot
ZHENG Yili1, SUN Hanxu2, LIU Jinhao1
1. School of Technology, Beijing Forestry University, Beijing 100083, China;
2. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
郑一力, 孙汉旭, 刘晋浩. 球形移动机器人基于神经网络的反馈线性化运动控制研究与实验[J]. 机器人, 2012, 34(4): 455-459..
ZHENG Yili, SUN Hanxu, LIU Jinhao. Study and Experiment on Neural-network-based Feedback Linearization Motion Control for a Spherical Mobile Robot. ROBOT, 2012, 34(4): 455-459..
A rolling velocity control method for a spherical mobile robot is implemented. Nonlinear relationships between the control-input and state-output of the spherical mobile robot are hard to be described by exact mathematical model, with the radial basis function neural network, nonlinear mapping from the inputs to outputs of the robot are established by online training. Thereafter the velocity controller of the robot is designed by feedback linearization method, and it is composed of a feedback linearization controller and a compensation controller for reducing approximation errors of neural network. The implementation of the controller is given. Experiments show that the velocity control for the spherical mobile robot can be achieved stably by this method.
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