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Adaptive Tracking Control of Nonholonomic Mobile Manipulators Using Recurrent Neural Networks
Guo Yi,Jianxu Mao,Yaonan Wang,Siyu Guo,Zhiqiang Miao 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.3
The trajectory tracking problem is considered for a class of nonholonomic mobile manipulators in the presence of uncertainties and disturbances. First, under the assumption that the kinematic subsystem of mobile manipulator is capable of being transformed into the chained form and the dynamic subsystem of mobile manipulator is exactly known without considering external disturbances, a model-based controller is designed at the torque level using backstepping design technology. However, the model-based control may be inapplicable for practical applications, as the uncertainties and disturbances do exist in the dynamics of mobile manipulators inevitably. Thus, a Recurrent Neural Network (RNN) based control system is developed without requiring explicit knowledge of the system dynamics. The control system comprises a RNN identifier and a compensation controller, in which the RNN is utilized to identify the unknown dynamics on-line, and the compensation controller is presented to compensate the approximation error and external disturbances. The online adaptive laws of the control system are derived in the Lyapunov sense so that the stability of the system can be guaranteed. Finally, simulation results for a wheeled mobile manipulator are provided to show the good tracking performance and robustness of the proposed control method.
( Yufeng Ge ),( Bin Wei ),( Siyu Wang ),( Zhiguo Guo ),( Xiaolin Xu ) 한국화학공학회 2015 Korean Chemical Engineering Research(HWAHAK KONGHA Vol.53 No.3
A large amount of dye wastewater poses a threat to environmental safety. Disperse blue, an anthraquinone dye that is widely used in textile dyes, is difficult to degrade in wastewater. In this work, one fungus was screened according to the decolorization rate of disperse blue. The fungus was identified and named Aspergillus XJ-2 on the basis of its morphological characteristics and 18s rDNA. Response surface method was used to optimize culture conditions for A. XJ-2. The optimum values of obtained responses were as follows: temperature, 35 °C; pH, 5.2; carbon-to nitrogen ratio, 30:5.5; and rotation ratio, 175 r·min-1. Under optimized conditions, the decolorization rate of A. XJ-2 was up to 94.8% in 48 h.