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

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

Puni tekst: engleski PDF 121 Kb

str. 235-243

preuzimanja: 895



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.

Ključne riječi

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

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