Real-TimeTracking Control Embedded with Biological Neurons for a Class of Mobile Robots

A novel stable control scheme with embedded biological neurons is developed for real-time tracking control for a class of mobile robots. Two individual biological neurons are embedded into the backstepping-based velocity controller to eliminate the sharp jumps of linear and angular velocities as the position tracking errors change suddenly. This control system includes a velocity controller and a torque controller. The outputs of the velocity controller are used as the command inputs of the torque controller in the control system. The VSC based on sliding mode and reaching mode is used to design the torque controller. The stability of the closed-loop system can be guaranteed in theory. Simulation results demonstrate the effectiveness and efficiency of the proposed control scheme.