{"id":465,"date":"2016-07-16T20:03:18","date_gmt":"2016-07-16T23:03:18","guid":{"rendered":"https:\/\/sbia.org.br\/lnlm\/?page_id=465"},"modified":"2016-07-16T20:03:18","modified_gmt":"2016-07-16T23:03:18","slug":"vol8-no1-art2","status":"publish","type":"page","link":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol8-no1\/vol8-no1-art2\/","title":{"rendered":"Nonholonomic Mobile Robot with Kinematic Disturbances in the Trajectory Tracking: A Variable Structure Controller"},"content":{"rendered":"<p><strong>T\u00edtulo:<\/strong> Nonholonomic Mobile Robot with Kinematic Disturbances in the Trajectory Tracking: A Variable Structure Controller<\/p>\n<p><strong>Autores:<\/strong> Martins, Nard\u00eanio A.; Elyoussef, Ebrahim S.; Bertol, Douglas W.; Pieri, Edson R. De; Moreno, Ubirajara F.; Castelan, Eug\u00eanio B.<\/p>\n<p align=\"justify\"><strong>Resumo:<\/strong> In this paper, a trajectory tracking control for a nonholonomic mobile robot subjected to kinematic disturbances is proposed. A variable structure controller based on the sliding mode theory is used, and applied to compensate these disturbances. To minimize the problems found in practical implementations of the classical variable structure controllers, and eliminate the chattering phenomenon a neural compensator is used, which is nonlinear and continuous, in lieu of the discontinuous portion of the control signals present in classical forms. The proposed neural compensator is designed by the Gaussian radial basis function neural networks modeling technique and does not require the time-consuming training process. Stability analysis is guaranteed based on the Lyapunov method. Simulation results are provided to show the effectiveness of the proposed approach. <\/p>\n<p><strong>Palavras-chave:<\/strong> Mobile robot; trajectory tracking; variable structure control; sliding mode theory; neural networks; Lyapunov method<\/p>\n<p><strong>P\u00e1ginas:<\/strong> 18<\/p>\n<p><strong>C\u00f3digo DOI:<\/strong> <a href=\"http:\/\/dx.doi.org\/10.21528\/lnlm-vol8-no1-art2\">10.21528\/lmln-vol8-no1-art2<\/a><\/p>\n<p><strong>Artigo em PDF:<\/strong> <a href=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2016\/07\/vol8-no1-art2.pdf\" rel=\"\">vol8-no1-art2.pdf<\/a><\/p>\n<p><strong>Arquivo BibTex:<\/strong> <a href=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2016\/07\/vol8-no1-art2.bib\" rel=\"\">vol8-no1-art2.bib<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>T\u00edtulo: Nonholonomic Mobile Robot with Kinematic Disturbances in the Trajectory Tracking: A Variable Structure Controller Autores: Martins, Nard\u00eanio A.; Elyoussef, Ebrahim S.; Bertol, Douglas W.; Pieri, Edson R. De; Moreno, Ubirajara F.; Castelan, Eug\u00eanio B. Resumo: In this paper, a <a href=\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol8-no1\/vol8-no1-art2\/\" class=\"read-more\">Read More &#8230;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":461,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-465","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>Nonholonomic Mobile Robot with Kinematic Disturbances in the Trajectory Tracking: A Variable Structure Controller - 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\/vol8-no1\/vol8-no1-art2\/\" \/>\n<meta property=\"og:locale\" content=\"pt_BR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Nonholonomic Mobile Robot with Kinematic Disturbances in the Trajectory Tracking: A Variable Structure Controller - Learning and NonLinear Models\" \/>\n<meta property=\"og:description\" content=\"T\u00edtulo: Nonholonomic Mobile Robot with Kinematic Disturbances in the Trajectory Tracking: A Variable Structure Controller Autores: Martins, Nard\u00eanio A.; Elyoussef, Ebrahim S.; Bertol, Douglas W.; Pieri, Edson R. De; Moreno, Ubirajara F.; Castelan, Eug\u00eanio B. 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De; Moreno, Ubirajara F.; Castelan, Eug\u00eanio B. 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