caa a22 4500 606160272 CHVBK 20210128100629.0 cr unu---uuuuu 210128e20150701xx s 000 0 eng 10.1007/s00521-014-1805-8 doi (NATIONALLICENCE)springer-10.1007/s00521-014-1805-8 Identification and control of nonlinear dynamics of a mobile robot in discrete time using an adaptive technique based on neural PID [Elektronische Daten] [F. Rossomando, C. Soria] In this work, original results, concerning the application of a discrete-time adaptive PID neural controller in mobile robots for trajectory tracking control, are reported. In this control strategy, the exact dynamical model of the robot does not need to be known, but a neural network is used to identify the dynamic model. To implement this strategy, two controllers are implemented separately: a kinematic controller and an adaptive neural PID controller. The uncertainty and variations in the robot dynamics are compensated by an adaptive neural PID controller. It is efficient and robust in order to achieve a good tracking performance. The stability of the proposed technique, based on the discrete-time Lyapunov's theory, is proven. Finally, experiments on the mobile robot have been developed to show the performance of the proposed technique, including the comparison with a classical PID. The Natural Computing Applications Forum, 2014 MIMO system nationallicence Neural networks nationallicence Nonlinear control nationallicence Adaptive control nationallicence Rossomando F. INAUT - Universidad Nacional de San Juan (UNSJ - Conicet), Capital, San Juan, Argentina aut Soria C. INAUT - Universidad Nacional de San Juan (UNSJ - Conicet), Capital, San Juan, Argentina aut Neural Computing and Applications Springer London 26/5(2015-07-01), 1179-1191 0941-0643 26:5<1179 2015 26 521 https://doi.org/10.1007/s00521-014-1805-8 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s00521-014-1805-8 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Rossomando F. INAUT - Universidad Nacional de San Juan (UNSJ - Conicet), Capital, San Juan, Argentina aut NATIONALLICENCE 700 1- Soria C. INAUT - Universidad Nacional de San Juan (UNSJ - Conicet), Capital, San Juan, Argentina aut NATIONALLICENCE 773 0- Neural Computing and Applications Springer London 26/5(2015-07-01), 1179-1191 0941-0643 26:5<1179 2015 26 521