Neural Network Force Control Technique for Four Wheel Driven Snow Blower Robotic Vehicle under Uncertain Environment

摘要

In this paper, neural network force control technique is applied to a four wheel driven snow blower vehicle under uncertain environment, unknown stiffness and position. The four wheel driven vehicle is a nonlinear system that is driven by front and rear steering angles independently. The explicit force controller is used to regulate lateral force tracking task with a constant longitudinal velocity. However, the performance of the lateral force tracking task becomes worse when uncertain load from the environment is applied to the vehicle. To improve the force tracking task, neural network is added to compensate for the uncertainties from the environment