Neuro-Dynamics and Full-State Feedback based Tracking Control of Mobile Robots
In this paper, a novel biologically inspired tracking controller for a nonholonomic mobile robot is proposed by incorporating a neural dynamics model derived from Hodgkin and Huxley’s (1952) membrane equation into the conventional fullstate tracking controller. The proposed tracking control algorithm is capable of generating real-time smooth and continuous velocity control signals that drive the mobile robot to follow desired robot trajectories. It resolves the speed jump problem existing in some previous tracking controllers. In addition, the proposed controller can track both continuous and discrete paths. The effectiveness of the proposed algorithm is demonstrated by simulation and comparison results.
Simon X. Yang Haowen Yang Chen Guo
College of Automation, Dalian Maritime University, Dalian, 116026, China;School of Engineering, Univ School of Engineering, University of Guelph, Guelph, ON N1G 2W1, Canada College of Automation, Dalian Maritime University, Dalian, 116026, China
国际会议
青岛
英文
2006-07-21（万方平台首次上网日期，不代表论文的发表时间）