Trajectory Tracking Control Based on Adaptive Neural Dynamics for Four-wheel Drive Omni- Directional Mobile Robots

Article history: Received: 24.01.2014. Received in revised form: 05.03.2014. Accepted: 10.03.2014. There is usually the speed jump problem existing in conventional back-stepping tracking control for four-wheel drive omni-directional mobile robots, a trajectory tracking controller based on adaptive neural dynamics model is proposed. Because of the smoothness and boundedness of the output from the neural dynamics model, it produces a gradually varying tracking speed instead of the jumping speed, and the parameters are designed to avoid the control values exceeding their limits. And then, a parameter adaptive controller is presented to improve control performance. Simulation results of different paths and comparison with the conventional back-stepping technique show that the approach is effective, and the system has a good performance with smooth output.