DocumentCode :
2745738
Title :
Neural Dynamics Based Tracking Control for Nonholonomic Mobile Robot
Author :
Sun, Yue ; Zhuang, Yan ; Wang, Wei
Author_Institution :
Res. Center of Inf. & Control, Dalian Univ. of Technol.
Volume :
2
fYear :
0
fDate :
0-0 0
Firstpage :
9079
Lastpage :
9083
Abstract :
This paper proposes a novel tracking control approach for wheeled nonholonomic mobile robot by integrating the neural dynamics model into a conventional backstepping technique. The velocity of the mobile robot in the proposed tracking controller is characterized by a biologically inspired shunting model derived from Hodgkin and Huxley´s membrane model of a biological system. The stability of the control system and the convergence of tracking errors to zeros are guaranteed by a Lyapunov stability theory. It resolves the speed jump problem existing in some previous tracking controllers and deals with the situation with a large tracking error. The proposed control algorithm can generate smooth and continuous velocity control commands. Simulation results, comparison studies and further data analysis show the method´s effectiveness
Keywords :
Lyapunov methods; control nonlinearities; mobile robots; motion control; neurocontrollers; path planning; position control; velocity control; Lyapunov stability theory; backstepping technique; neural dynamics model; shunting model; tracking control; velocity control; wheeled nonholonomic mobile robot; Backstepping; Biological control systems; Biological system modeling; Biological systems; Biomembranes; Control systems; Error correction; Mobile robots; Stability; Velocity control; Neural dynamics; Nonholonomic mobile robot; Tracking control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
Type :
conf
DOI :
10.1109/WCICA.2006.1713756
Filename :
1713756
Link To Document :
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