Affiliations: [a] School of Electrical Engineering, Southwest Jiaotong University, Chengdu, Sichuan, China | [b] School of Information Engineering, Southwest University of Science and Technology, Mianyang, Sichuan, China | [c] Centre for Computational Intelligence, School of Computer Science and Informatics, De Montfort University, England, UK | [d] Department of Mathematical Information Technology, University of Jyväskylä, Agora, Jyväskylä | [e] Control Engineering College, Chengdu University of Information Technology, Chengdu, Sichuan, China | [f] Faculty of Engineering and Informatics, University of Bradford, Bradford, West Yorkshire, UK | [g] Faculty of Mathematics and Computer Science, University of Bucharest, Bucharest, Romania
Correspondence:
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Corresponding author: Gexiang Zhang, School of Electrical Engineering, Southwest
Jiaotong University, Chengdu, Sichuan, China. E-mail: [email protected]; Ferrante Neri, Centre for Computational Intelligence, School of Computer Science and Informatics, De Montfort University, The Gateway, Leicester LEI 9BH, England, UK. E-mail: [email protected]
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.
