{"id":247,"date":"2016-07-13T15:27:51","date_gmt":"2016-07-13T18:27:51","guid":{"rendered":"https:\/\/sbia.org.br\/lnlm\/?page_id=247"},"modified":"2016-07-13T15:27:51","modified_gmt":"2016-07-13T18:27:51","slug":"vol1-no2-art4","status":"publish","type":"page","link":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/","title":{"rendered":"Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks"},"content":{"rendered":"<p><strong>T\u00edtulo:<\/strong> Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks<\/p>\n<p><strong>Autores:<\/strong> Oliveira, Vin\u00edcius M. de; Pieri, Edson R. de; Lages, Walter F.<\/p>\n<p align=\"justify\"><strong>Resumo:<\/strong> The complete model of a mobile robot can be divided into kinematics and dynamics. To take advantage from this fact, a combined controller of a sliding mode kinematic controller with a neural network computedtorque dynamic controller is proposed. The proof of stability is based on the Lyapunov theory. Concerning with Brockett\u2019s theorem, the kinematic controller fulfills the requirements and the robot can be stabilized in a desired posture. Experimental real-time results are presented.<\/p>\n<p><strong>Palavras-chave:<\/strong> <\/p>\n<p><strong>P\u00e1ginas:<\/strong> 19<\/p>\n<p><strong>C\u00f3digo DOI:<\/strong> <a href=\"http:\/\/dx.doi.org\/10.21528\/lnlm-vol1-no2-art4\">10.21528\/lmln-vol1-no2-art4<\/a><\/p>\n<p><strong>Artigo em PDF:<\/strong> <a href=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2016\/07\/vol1-no2-art4.pdf\" rel=\"\">vol1-no2-art4.pdf<\/a><\/p>\n<p><strong>Arquivo BibTex:<\/strong> <a href=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2016\/07\/vol1-no2-art4.bib\" rel=\"\">vol1-no2-art4.bib<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>T\u00edtulo: Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks Autores: Oliveira, Vin\u00edcius M. de; Pieri, Edson R. de; Lages, Walter F. Resumo: The complete model of a mobile robot can be divided into kinematics and dynamics. To take <a href=\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/\" class=\"read-more\">Read More &#8230;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":239,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-247","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.9 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks - Learning and NonLinear Models<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/\" \/>\n<meta property=\"og:locale\" content=\"pt_BR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks - Learning and NonLinear Models\" \/>\n<meta property=\"og:description\" content=\"T\u00edtulo: Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks Autores: Oliveira, Vin\u00edcius M. de; Pieri, Edson R. de; Lages, Walter F. Resumo: The complete model of a mobile robot can be divided into kinematics and dynamics. To take Read More ...\" \/>\n<meta property=\"og:url\" content=\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/\" \/>\n<meta property=\"og:site_name\" content=\"Learning and NonLinear Models\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Est. tempo de leitura\" \/>\n\t<meta name=\"twitter:data1\" content=\"1 minuto\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/\",\"url\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/\",\"name\":\"Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks - Learning and NonLinear Models\",\"isPartOf\":{\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#website\"},\"datePublished\":\"2016-07-13T18:27:51+00:00\",\"breadcrumb\":{\"@id\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/#breadcrumb\"},\"inLanguage\":\"pt-BR\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Browse issues\",\"item\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Learning &#038; Nonlinear Models &#8211; L&#038;NLM &#8211; Volume 1 &#8211; N\u00famero 2\",\"item\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/\"},{\"@type\":\"ListItem\",\"position\":3,\"name\":\"Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#website\",\"url\":\"https:\/\/sbia.org.br\/lnlm\/\",\"name\":\"Learning and NonLinear Models\",\"description\":\"\",\"publisher\":{\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#organization\"},\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/sbia.org.br\/lnlm\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"pt-BR\"},{\"@type\":\"Organization\",\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#organization\",\"name\":\"Learning and NonLinear Models\",\"url\":\"https:\/\/sbia.org.br\/lnlm\/\",\"logo\":{\"@type\":\"ImageObject\",\"inLanguage\":\"pt-BR\",\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#\/schema\/logo\/image\/\",\"url\":\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2021\/07\/logo-lnlm.png\",\"contentUrl\":\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2021\/07\/logo-lnlm.png\",\"width\":398,\"height\":94,\"caption\":\"Learning and NonLinear Models\"},\"image\":{\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#\/schema\/logo\/image\/\"}}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks - Learning and NonLinear Models","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/","og_locale":"pt_BR","og_type":"article","og_title":"Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks - Learning and NonLinear Models","og_description":"T\u00edtulo: Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks Autores: Oliveira, Vin\u00edcius M. de; Pieri, Edson R. de; Lages, Walter F. Resumo: The complete model of a mobile robot can be divided into kinematics and dynamics. To take Read More ...","og_url":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/","og_site_name":"Learning and NonLinear Models","twitter_card":"summary_large_image","twitter_misc":{"Est. tempo de leitura":"1 minuto"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/","url":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/","name":"Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks - Learning and NonLinear Models","isPartOf":{"@id":"https:\/\/sbia.org.br\/lnlm\/#website"},"datePublished":"2016-07-13T18:27:51+00:00","breadcrumb":{"@id":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/#breadcrumb"},"inLanguage":"pt-BR","potentialAction":[{"@type":"ReadAction","target":["https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/vol1-no2-art4\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"Browse issues","item":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/"},{"@type":"ListItem","position":2,"name":"Learning &#038; Nonlinear Models &#8211; L&#038;NLM &#8211; Volume 1 &#8211; N\u00famero 2","item":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol1-no2\/"},{"@type":"ListItem","position":3,"name":"Wheeled Mobile Robot Control Using Sliding Modes and Neural Networks"}]},{"@type":"WebSite","@id":"https:\/\/sbia.org.br\/lnlm\/#website","url":"https:\/\/sbia.org.br\/lnlm\/","name":"Learning and NonLinear Models","description":"","publisher":{"@id":"https:\/\/sbia.org.br\/lnlm\/#organization"},"potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/sbia.org.br\/lnlm\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"pt-BR"},{"@type":"Organization","@id":"https:\/\/sbia.org.br\/lnlm\/#organization","name":"Learning and NonLinear Models","url":"https:\/\/sbia.org.br\/lnlm\/","logo":{"@type":"ImageObject","inLanguage":"pt-BR","@id":"https:\/\/sbia.org.br\/lnlm\/#\/schema\/logo\/image\/","url":"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2021\/07\/logo-lnlm.png","contentUrl":"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2021\/07\/logo-lnlm.png","width":398,"height":94,"caption":"Learning and NonLinear Models"},"image":{"@id":"https:\/\/sbia.org.br\/lnlm\/#\/schema\/logo\/image\/"}}]}},"_links":{"self":[{"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/pages\/247","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/comments?post=247"}],"version-history":[{"count":0,"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/pages\/247\/revisions"}],"up":[{"embeddable":true,"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/pages\/239"}],"wp:attachment":[{"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/media?parent=247"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}