Real-time Tracking Control Embedded with Biological Neurons for a Class of Mobile Robots
نویسندگان
چکیده
A novel stable tracking control scheme with embedded biological neurons is developed for a class of mobile robots. Two individual biological neurons are embedded into the backstepping-based velocity controller to eliminate the sharp jumps of linear and angular velocities as the position tracking errors change suddenly. This control system includes a velocity controller and a torque controller. The output of the velocity controller is used as the command input of the torque controller in the control system. The variable structure control based on sliding mode and reaching mode is employed to design the torque controller. The stability of the closed-loop control system can be guaranteed by Lyapunov stability theory. Simulation results demonstrate the effectiveness and efficiency of the proposed control scheme. Copyright © 2005 IFAC
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