Neural Dynamics Based Tracking Control for Nonholonomic Mobile Robot

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