Adaptive synchronization for dynamical networks of neutral type with time-delay

Considering the complicated disturbance in amphibious circumstance, usually it is difficult to solve the control problem for a complex system of an amphibious robot. This paper proposes a neutral network PID controller which has a great advantage on processing online for an amphibious spherical robot due to their nonlinear dynamics. We overcome the difficulties by combining the neutral network method and traditional PID control to reach the goal of tracking online fast. The stability of our controller is analyzed according to the Lyapunov method. The performance of the proposed controller is investigated in simulation. The controller can be easily realized in hardware as for its simple structure. The linear velocity of the spherical robot can be controlled to precisely track any desired trajectory in robot-fixed coordinate system. The effectiveness of the controller is verified by simulation results based on neutral network PID. It realizes a better control on spherical amphibious robot by heading experiments in water.

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“…The gradient descent method can be used to adjust the velocity [14]. For function , the gradient is shown as follows:…”

Section: Among Them An Input Vector Ismentioning

confidence: 99%

The application of PID control in motion control of the spherical amphibious robot

Wang

Guo

Shi

et al. 2014

2014 IEEE International Conference on Mechatronics and Automation

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“…Recently, similar to pinning control of complex dynamical networks, different control schemes of the chaotic system have been proposed by controlling one component of the chaotic system, that is, the proposed controller is a single controller [9][10][11][12][13][14][15][16]. Among the existing publications, some papers focused on 'pinning control' on chaotic systems by the idea of linear feedback control or adaptive control.…”

Section: Introductionmentioning

confidence: 99%

Impulsive synchronization of Lü chaotic systems via the hybrid controller

Xie

et al. 2016

Optik

Self Cite

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“…Chaos control and M a n u s c r i p t 2 synchronization is extensively and intensively studied since Pecora and Carroll [1] introduced a method to synchronize two identical chaotic systems with different initial conditions. During the last decades, control and synchronization of chaotic systems has become one of the most interesting subjects in chaos theory, most synchronizing techniques, such as linear and nonlinear feedback synchronization [2][3][4][5][6], impulsive synchronization [7][8], adaptive synchronization [9][10][11][12][13], observer based control method [14][15][16], and so on, have been designed for unidirectionally coupled systems.…”

Section: Introductionmentioning

confidence: 99%