Trajectory tracking control based on adaptive neural dynamics for four-wheel drive omnidirectional mobile robots

Jianbin Wang, Jianping Chen, Sijie Ouyang, Yimin Yang

Abstract


There is usually the speed jump problem existing in conventional back-stepping tracking control for four-wheel drive omni-directional mobile robots, a trajectory tracking controller based on adaptive neural dynamics model is proposed. Because of the smoothness and boundedness of the output from the neural dynamics model, it produces a gradually varying tracking speed instead of the jumping speed, and the parameters are designed to avoid the control values exceeding their limits. And then, a parameter adaptive controller is presented to improve control performance. Simulation results of different paths and comparison with the conventional back-stepping technique show that the approach is effective, and the system has a good performance with smooth output.


Keywords


four-wheel drive; omni-directional mobile robot; adaptive neural dynamics; trajectory tracking

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ISSN 1330-9587 (Print), ISSN 1849-0433 (Online)

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