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Design and implementation of membrane controllers for trajectory tracking of nonholonomic wheeled mobile robots

Wang, X.
Zhang, G.
Neri, F.
Jiang, T.
Zhao, J.
Gheorghe, Marian
Ipate, F.
Lefticaru, Raluca
Publication Date
2016
End of Embargo
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Rights
© 2016 IOS Press. Reproduced in accordance with the publisher's selfarchiving policy. The final publication is available at IOS Press through https://doi.org/10.3233/ICA-150503
Peer-Reviewed
Yes
Open Access status
Accepted for publication
2015-11
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Abstract
This paper proposes a novel trajectory tracking control approach for nonholonomic wheeled mobile robots. In this approach, the integration of feed-forward and feedback controls is presented to design the kinematic controller of wheeled mobile robots, where the control law is constructed on the basis of Lyapunov stability theory, for generating the precisely desired velocity as the input of the dynamic model of wheeled mobile robots; a proportional-integral-derivative based membrane controller is introduced to design the dynamic controller of wheeled mobile robots to make the actual velocity follow the desired velocity command. The proposed approach is defined by using an enzymatic numerical membrane system to integrate two proportional-integral-derivative controllers, where neural networks and experts’ knowledge are applied to tune parameters. Extensive experiments conducted on the simulated wheeled mobile robots show the effectiveness of this approach.
Version
Accepted Manuscript
Citation
Wang X, Zhang G, Neri F et al (2016) Design and implementation of membrane controllers for trajectory tracking of nonholonomic wheeled mobile robots. Integrated Computer- Aided Engineering. 23(1): 15-30.
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Article
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