Robust optimal navigation using nonlinear model predictive control method combined with recurrent fuzzy neural network
type: Item
instance of: scholarly article
title: Robust optimal navigation using nonlinear model predictive control method combined with recurrent fuzzy neural network
zbMATH Open document ID: 1427.93173
DOI: 10.1155/2018/8014019
author: Qidan Zhu
author: Yu Han
author: Chengtao Cai
author: Yao Xiao
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: This paper presents a novel navigation strategy of robot to achieve reaching target and obstacle avoidance in unknown dynamic environment. Considering possible generation of uncertainty, disturbances brought to system are separated into two parts, i.e., bounded part and unbounded part. A dual-layer closed-loop control system is then designed to deal with two kinds of disturbances, respectively. In order to realize global optimization of navigation, recurrent fuzzy neural network is used to predict optimal motion of robot for its ability of processing nonlinearity and learning. Extended Kalman filter method is used to train RFNN online. Moving horizon technique is used for RFNN motion planner to guarantee optimization in dynamic environment. Then, model predictive control is designed against bounded disturbances to drive robot to track predicted trajectories and limit robot's position in a tube with good robustness. A novel iterative online learning method is also proposed to estimate intrinsic error of system using online data that makes system adaptive. Feasibility and stability of proposed method are analyzed. By examining our navigation method on mobile robot, effectiveness is proved in both simulation and hardware experiments. Robustness and optimization of proposed navigation method can be guaranteed in dynamic environment.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 93E11
zbMATH DE Number: 7019530
describes a project that uses: Ipopt
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/8014019
OpenAlex ID: W2886378699
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description: scientific article; zbMATH DE number 7019530