Show simple item record

dc.contributor.authorWang, X.en
dc.contributor.authorZhang, G.en
dc.contributor.authorNeri, Ferranteen
dc.contributor.authorJiang, T.en
dc.contributor.authorZhao, J.en
dc.contributor.authorGheorghe, M.en
dc.contributor.authorIpate, F.en
dc.contributor.authorLefticaru, R.en
dc.date.accessioned2016-05-23T14:46:16Z
dc.date.available2016-05-23T14:46:16Z
dc.date.issued2016
dc.identifier.citationWang, 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. 15-30en
dc.identifier.issn1069-2509
dc.identifier.urihttp://content.iospress.com/articles/integrated-computer-aided-engineering/ica503
dc.identifier.urihttp://hdl.handle.net/2086/12076
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
dc.language.isoenen
dc.publisherIOS Pressen
dc.relation.ispartofseriesIntegrated Computer Aided Engineering;Vol.23, No 1
dc.subjectMembrane computingen
dc.subjectmembrane controlleren
dc.subjectPIDen
dc.subjecttrajectory trackingen
dc.subjectnonholonomic wheeled mobile roboten
dc.titleDesign and implementation of membrane controllers for trajectory tracking of nonholonomic wheeled mobile robotsen
dc.typeArticleen
dc.identifier.doihttps://doi.org/10.3233/ica-150503
dc.researchgroupCentre for Computational Intelligenceen
dc.peerreviewedYesen
dc.funderN/Aen
dc.projectidN/Aen
dc.cclicenceN/Aen
dc.date.acceptance2015-11
dc.researchinstituteInstitute of Artificial Intelligence (IAI)en


Files in this item

FilesSizeFormatView

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record