Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control With Input Saturation for a Non-Holonomic Spherical Robot

Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control With Input Saturation for a Non-Holonomic Spherical Robot

We develop a new robust control scheme for a non-holonomic spherical robot. To this end, the mathematical model of a pendulum driven non-holonomic spherical robot is first presented. Then, a recurrent neural network-based robust nonsingular sliding mode control is proposed for stabilization and trac...

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Bibliographic Details
Main Authors: Shu-Bo Chen, Alireza Beigi, Amin Yousefpour, Farhad Rajaee, Hadi Jahanshahi, Stelios Bekiros, Raul Alcaraz Martinez, Yuming Chu
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Spherical robot
sliding mode control
recurrent neural network
external disturbance
unknown input saturation
control singularity
Online Access:https://ieeexplore.ieee.org/document/9222023/

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