|
An intelligent control for a
crawling unmanned vehicle
Kwang Hwa
Lee
Dahlgren
Div., Naval Surface Warfare Center, Panama City,
FL;
This paper appears
in: OCEANS, 2001. MTS/IEEE Conference and
Exhibition
11/05/2001 -11/08/2001, 2001
Location: Honolulu, HI , USA
On page(s): 490-500 vol.1
2001
References
Cited: 19
Number of Pages:
4 vol.(lxv+lxi+2714)
INSPEC Accession Number: 7220076
Abstract:
Describes a method to design an adaptive
feedback controller for an unmanned crawling vehicle (UCV)
having track style wheels. The motion of the vehicle is
constrained by environmental uncertainties, which are
represented by unknown friction coefficients between the
tracks and ground surface. The controller, a combination of
conventional PID and adaptive neural network fuzzy logic
(ANNFL), is designed by using multiobjective optimization
techniques from which the fixed and the adjustable control
gains are obtained. Using the nonlinear motion equations of
the vehicle dynamics, the PID controller is designed at a
nominal operating point and establishes a desired system
response pattern of feedback (closed loop) control.. The ANNFL
deals with the uncertainties to compensate the PID controller
for reducing the "command following error" by tuning an
additional gain feedback from the system output besides the
fixed gain of the PID controller. ANNFL provides an
adaptability and robustness for the integrated control
strategy of the PID and ANNFL. An example simulation is
included
Index Terms:
adaptive
control closed loop
systems control system
synthesis feedback fuzzy
control fuzzy neural
nets intelligent
control mobile
robots neurocontrollers nonlinear control
systems optimal
control three-term
control underwater
vehicles
Documents that cite this
document
Select link to view other documents in the
database that cite this one.
|
