Izvorni znanstveni članak
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
Sažetak
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
Hrčak ID:
126870
URI
Datum izdavanja:
15.9.2014.
Posjeta: 1.678 *