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

Authors

  • Jianbin Wang School of Automation, Guangdong University of Technology, Guangzhou, Guangdong
  • Jianping Chen School of Computer Science, Zhaoqing University, Zhaoqing, Guangdong
  • Sijie Ouyang School of Electronic Information and Mechnical & Electrical Engineering, Zhaoqing University, Zhaoqing, Guangdong
  • Yimin Yang School of Automation, Guangdong University of Technology, Guangzhou, Guangdong

Keywords:

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

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.

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Published

2014-09-15

Issue

Engineering Review, Vol. 34, No. 3

Section

Articles

License

Copyright 2011 by Faculty of Engineering University of Rijeka, Faculty of Civil Engineering University of Rijeka. All rights reserved. This material may not be reproduced or copied, in whole or in part, in any printed, mechanical, electronic, film, or other distribution and storage media without the written consent of the publisher.

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