NDLI: Neural Dynamics Based Tracking Control for Nonholonomic Mobile Robot

Content Provider	IEEE Xplore Digital Library
Author	Yue Sun Yan Zhuang Wei Wang
Copyright Year	2006
Description	Author affiliation: Res. Center of Inf. & Control, Dalian Univ. of Technol. (Yue Sun; Yan Zhuang; Wei Wang)
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
Starting Page	9079
Ending Page	9083
File Size	156440
Page Count	5
File Format	PDF
ISBN	1424403324
DOI	10.1109/WCICA.2006.1713756
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Biological system modeling Velocity control Error correction Backstepping Biological control systems Biomembranes Biological systems Stability Control systems Tracking control Nonholonomic mobile robot Neural dynamics
Content Type	Text
Resource Type	Article

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