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

Date

2016

Advisors

Journal Title

Journal ISSN

ISSN

1069-2509

Volume Title

Publisher

IOS Press

Type

Article

Peer reviewed

Yes

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.

Description

Keywords

Membrane computing, membrane controller, PID, trajectory tracking, nonholonomic wheeled mobile robot

Citation

Wang, X. et al. (2016) Design and implementation of membrane controllers for trajectory tracking of nonholonomic wheeled mobile robots. Integrated Computer Aided Engineering, 23 (1), pp. 15-30

Rights

Research Institute

Institute of Artificial Intelligence (IAI)