Open Access
Open access
MDPI
Applied Sciences (Switzerland)
,  volume 12 ,  issue 11 ,  pages 5322

Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels

Publication type: Journal Article
Publication date: 2022-05-24
MDPI
scimago Q2
wos Q2
SJR: 0.521
CiteScore: 5.5
Impact factor: 2.5
ISSN: 20763417
Computer Science Applications
Process Chemistry and Technology
General Materials Science
Instrumentation
General Engineering
Fluid Flow and Transfer Processes
Abstract

This study designed an algorithm for the intelligent control of the motion of a mobile robot with mecanum wheels. After reviewing the model kinematics and dynamics of the robot, we conducted a synthesis of the neural control algorithm to determine network weight adaptation, according to Lyapunov stability theory. Using a MATLAB/Simulink computing environment, we developed a numerical simulation for the implementation of the robot’s motion path with parametric disturbances acting on the control object. To determine the quality of the implementation of the desired motion path, a numerical test of the robot’s motion, controlled with the use of a PD controller, was conducted. The proposed control algorithm was verified on a laboratory stand equipped with a dSpace DS1103 controller board and a Husarion Panther four-wheeled mobile robot with mecanum wheels. The conducted research confirmed the improved implementation of the desired motion path by a robot controlled with the use of an intelligent control system.

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GOST |
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GOST Copy
Szeremeta M., Szuster M. Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels // Applied Sciences (Switzerland). 2022. Vol. 12. No. 11. p. 5322.
GOST all authors (up to 50) Copy
Szeremeta M., Szuster M. Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels // Applied Sciences (Switzerland). 2022. Vol. 12. No. 11. p. 5322.
RIS |
Cite this
RIS Copy
TY - JOUR
DO - 10.3390/app12115322
UR - https://doi.org/10.3390/app12115322
TI - Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels
T2 - Applied Sciences (Switzerland)
AU - Szeremeta, Mateusz
AU - Szuster, Marcin
PY - 2022
DA - 2022/05/24
PB - MDPI
SP - 5322
IS - 11
VL - 12
SN - 2076-3417
ER -
BibTex |
Cite this
BibTex (up to 50 authors) Copy
@article{2022_Szeremeta,
author = {Mateusz Szeremeta and Marcin Szuster},
title = {Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels},
journal = {Applied Sciences (Switzerland)},
year = {2022},
volume = {12},
publisher = {MDPI},
month = {may},
url = {https://doi.org/10.3390/app12115322},
number = {11},
pages = {5322},
doi = {10.3390/app12115322}
}
MLA
Cite this
MLA Copy
Szeremeta, Mateusz, and Marcin Szuster. “Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels.” Applied Sciences (Switzerland), vol. 12, no. 11, May. 2022, p. 5322. https://doi.org/10.3390/app12115322.