Paper Info
Title
A Bioinspired Neurodynamics-Based Approach to Tracking Control of Mobile Robots.
Abstract
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.
Year
DOI
Venue
2012
10.1109/TIE.2011.2130491
IEEE Transactions on Industrial Electronics
Keywords
Field
DocType
Mobile robots,Robot sensing systems,Mathematical model,Backstepping,Real time systems,Robot kinematics
Robot control,Control theory,Robot kinematics,Tracking system,Control engineering,Engineering,Iterative learning control,Control system,Robot,Mobile robot,Tracking error
Journal
Volume
Issue
ISSN
59
8
0278-0046
Citations 
PageRank 
References 
33
1.23
40
Authors
4
Name
Order
Citations
PageRank
Simon X. Yang11029124.34
Anmin Zhu21018.01
Guangfeng Yuan3473.48
Max Q.-H. Meng41477202.72