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Engineering Review : International journal for publishing of original researches from the aspect of structural analysis, materials and new technologies in the field of mechanical engineering, shipbuilding, fundamental engineering sciences, computer sciences, electrical engin, Vol. 34 No. 3, 2014.

Original scientific paper

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

Full text: english PDF 121 Kb

page 235-243

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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

Hrčak ID:

126870

URI

https://hrcak.srce.hr/126870

Publication date:

15.9.2014.

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