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

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    Publication date
    2016
    Author
    Wang, X.
    Zhang, G.
    Neri, F.
    Jiang, T.
    Zhao, J.
    Gheorghe, Marian
    Ipate, F.
    Lefticaru, Raluca
    Keyword
    Membrane computing; Membrane controller; PID; Trajectory tracking; Nonholonomic wheeled mobile robot
    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
    
    Metadata
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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.
    URI
    http://hdl.handle.net/10454/11700
    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.
    Link to publisher’s version
    https://doi.org/10.3233/ICA-150503
    Type
    Article
    Collections
    Engineering and Informatics Publications

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