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- W2044341605 abstract "Tracking control is a fundamentally important issue for robot and motor systems, where smooth velocity commands are desirable for safe and effective operation. In this paper, a novel biologically inspired tracking control approach to real-time navigation of a nonholonomic mobile robot is proposed by integrating a backstepping technique and a neurodynamics model. The tracking control algorithm is derived from the error dynamics analysis of the mobile robot and the stability analysis of the closed-loop control system. The stability of the robot control system and the convergence of tracking errors to zeros are guaranteed by a Lyapunov stability theory. Unlike some existing tracking control methods for mobile robots whose control velocities suffer from velocity jumps, the proposed neurodynamics-based approach is capable of generating smooth continuous robot control signals with zero initial velocities. In addition, it can deal with situations with a very large tracking error. The effectiveness and efficiency of the proposed neurodynamics-based tracking control of mobile robots are demonstrated by experimental and comparison studies." @default.
- W2044341605 created "2016-06-24" @default.
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- W2044341605 date "2012-08-01" @default.
- W2044341605 modified "2023-09-22" @default.
- W2044341605 title "A Bioinspired Neurodynamics-Based Approach to Tracking Control of Mobile Robots" @default.
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- W2044341605 doi "https://doi.org/10.1109/tie.2011.2130491" @default.
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