Dynamic Output Feedback and Neural Network Control of a Non-Holonomic Mobile Robot.

Abstract

This paper presents the design and synthesis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First, the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasible representation of this kind of robot. Then, two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control; this means that considering that the velocity vector of the mobile robot is orthogonal to its restriction, a dynamic output feedback and neural network controller is designed so that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then, another control strategy is designed for trajectory-tracking purposes, in which similar to the driftless controller, a kinematic control scheme is provided that is suitable to implement in more sophisticated hardware. In both control strategies, a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory, the stability and convergence to the origin of the mobile robot position coordinates are ensured. Finally, two numerical experiments are presented in order to validate the theoretical results synthesized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.