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Sliding-mode and proportional-derivative-type motion control with radial basis function neural network based estimators for wheeled vehicles

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  • Anugrah K. Pamosoaji
  • Pham Thuong Cat
  • Keum-Shik Hong

Abstract

An obstacle avoidance problem of rear-steered wheeled vehicles in consideration of the presence of uncertainties is addressed. Modelling errors and additional uncertainties are taken into consideration. Controller designs for driving and steering motors are designed. A proportional-derivative-type driving motor controller and a sliding-mode steering controller combined with radial basis function neural network (RBFNN) based estimators are proposed. The convergence properties of the RBFNN-based estimators are proven by the Stone–Weierstrass theorem. The stability of the proposed control law is proven using Lyapunov stability analysis. The obstacle avoidance strategy utilising the sliding surface adjustment to an existing navigation method is presented. It is concluded that the driving velocity and steering-angle performances of the proposed control system are satisfactory.

Suggested Citation

  • Anugrah K. Pamosoaji & Pham Thuong Cat & Keum-Shik Hong, 2014. "Sliding-mode and proportional-derivative-type motion control with radial basis function neural network based estimators for wheeled vehicles," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(12), pages 2515-2528, December.
    • Handle: RePEc:taf:tsysxx:v:45:y:2014:i:12:p:2515-2528
    DOI: 10.1080/00207721.2013.772678
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