A novel bioinspired tracking control method for mobile robots with the adaptive sliding innovation filter

Zhe Xu; Waleed Hilal; S. Andrew Gadsden; Mohammad AlShabi

doi:10.1117/12.3013754

6 August 2024 A novel bioinspired tracking control method for mobile robots with the adaptive sliding innovation filter

Zhe Xu, Waleed Hilal, S. Andrew Gadsden, Mohammad AlShabi

Proceedings Volume 13052, Autonomous Systems: Sensors, Processing, and Security for Ground, Air, Sea, and Space Vehicles and Infrastructure 2024; 1305209 (2024) https://doi.org/10.1117/12.3013754
Event: SPIE Defense + Commercial Sensing, 2024, National Harbor, Maryland, United States

Abstract

This paper developed a hybrid tracking control strategy for mobile robots based on a bioinspired neurodynamics. The proposed control method addresses the tracking control problem of mobile robots that considers the speed jump issue, velocity constraint, disturbances, and noises. In addition, considering the accuracy of the state estimates, an adaptive sliding innovation filter is integrated with the control. Compared to the conventional control approach, the proposed control strategy provides bounded smooth velocity and torque control inputs without velocity jump yet robust to disturbances. The adaptive sliding innovation filters that are integrated with the proposed control strategy not only provide accurate state estimates but are robust to modeling uncertainties as well. Finally, the simulation results demonstrate the overall control performance of the proposed method.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Zhe Xu, Waleed Hilal, S. Andrew Gadsden, and Mohammad AlShabi "A novel bioinspired tracking control method for mobile robots with the adaptive sliding innovation filter", Proc. SPIE 13052, Autonomous Systems: Sensors, Processing, and Security for Ground, Air, Sea, and Space Vehicles and Infrastructure 2024, 1305209 (6 August 2024); https://doi.org/10.1117/12.3013754

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