Dynamic control of a mobile robot using an adaptive neurodynamics and sliding mode strategy

摘要

A novel control scheme with an adaptive neurodynamics and sliding mode control for the dynamic tracking control of a noholonomic mobile robot is presented. A biologically inspired neural model is embedded into the standard backstepping-based velocity controller to eliminate or inhibit the sharp speed jumps of velocity commonly existing in mobile robots due to tracking errors changing suddenly. The proposed control scheme includes a neurodynamics based velocity planner as the kinematics controller and a global sliding mode controller for the dynamics control of mobile robot. A novel neurodynamics model with parameters adaptation is presented for tracking arbitrary paths with different initial posture errors. The simulations demonstrate that the dynamic tracking of mobile robot can be realized by the proposed approach, meanwhile the sharp speed jumps of linear velocity eliminated completely.