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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
Wang, X.
Zhang, G.
Neri, F.
Jiang, T.
Zhao, J.
Gheorghe, Marian
Ipate, F.
Lefticaru, Raluca
Publication Date
2016
End of Embargo
Supervisor
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
Institution
Department
Awarded
Embargo end date
Additional title
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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Type
Article