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dc.contributor.authorWang, X.*
dc.contributor.authorZhang, G.*
dc.contributor.authorNeri, F.*
dc.contributor.authorJiang, T.*
dc.contributor.authorZhao, J.*
dc.contributor.authorGheorghe, Marian*
dc.contributor.authorIpate, F.*
dc.contributor.authorLefticaru, Raluca*
dc.date.accessioned2017-03-27T11:44:02Z
dc.date.available2017-03-27T11:44:02Z
dc.date.issued2016
dc.identifier.citationWang 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.en_US
dc.identifier.urihttp://hdl.handle.net/10454/11700
dc.descriptionYesen_US
dc.description.abstractThis 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.en_US
dc.description.sponsorshipThe work of XW and GZ is supported by the National Natural Science Foundation of China (61170016, 61373047). The work of MG, FI and RL was supported by a grant of the Romanian National Authority for Scientific Research, CNCS-UEFISCDI (project number: PN-II-ID-PCE-2011-3-0688).en_US
dc.language.isoenen_US
dc.relation.isreferencedbyhttps://doi.org/10.3233/ICA-150503en_US
dc.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-150503en_US
dc.subjectMembrane computing; Membrane controller; PID; Trajectory tracking; Nonholonomic wheeled mobile roboten_US
dc.titleDesign and implementation of membrane controllers for trajectory tracking of nonholonomic wheeled mobile robotsen_US
dc.status.refereedYesen_US
dc.date.Accepted2015-11
dc.typeArticleen_US
dc.type.versionAccepted Manuscripten_US
refterms.dateFOA2018-07-27T01:19:29Z


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