Tracking Control of Mobile Robot Based on Neuro-Cascaded Approach

Abstract

In the tracking control of mobile robot, the cascaded approach has been applied for several years, the controller designed with this method is simple in structure and easy in computation. But it suffered from a speed jump at the initial time. When combining with neural dynamics model, a novel controller is proposed. In this new controller, neural dynamics model is used to improve the characteristic of control variables. Then simulation study to track a unit circle is carried out to demonstrate the effectiveness and efficiency of the proposed controller