A bioinspired neurodynamics-based approach to tracking control of mobile robots
Publication in refereed journal


摘要Tracking control is a fundamentally important issue for robot and motor systems, where smooth velocity commands are desirable for safe and effective operation. In this paper, a novel biologically inspired tracking control approach to real-time navigation of a nonholonomic mobile robot is proposed by integrating a backstepping technique and a neurodynamics model. The tracking control algorithm is derived from the error dynamics analysis of the mobile robot and the stability analysis of the closed-loop control system. The stability of the robot control system and the convergence of tracking errors to zeros are guaranteed by a Lyapunov stability theory. Unlike some existing tracking control methods for mobile robots whose control velocities suffer from velocity jumps, the proposed neurodynamics-based approach is capable of generating smooth continuous robot control signals with zero initial velocities. In addition, it can deal with situations with a very large tracking error. The effectiveness and efficiency of the proposed neurodynamics-based tracking control of mobile robots are demonstrated by experimental and comparison studies. © 2012 IEEE.
著者Yang S.X., Zhu A., Yuan G., Meng M.Q.-H.
期刊名稱IEEE Transactions on Industrial Electronics
出版社Institute of Electrical and Electronics Engineers
出版地United States
頁次3211 - 3220
關鍵詞Backstepping control, Lyapunov stability, mobile robot, neural dynamics, tracking control

上次更新時間 2020-25-11 於 03:21