YesThis paper proposes a novel trajectory tracking control approach for nonholonomic wheeled mobile robots. In this approach, the
integration of feed-forward and feedback controls is presented to design the kinematic controller of wheeled mobile robots, where the control law
is constructed on the basis of Lyapunov stability theory, for generating the precisely desired velocity as the input of the dynamic model of wheeled
mobile robots; a proportional-integral-derivative based membrane controller is introduced to design the dynamic controller of wheeled mobile
robots to make the actual velocity follow the desired velocity command. The proposed approach is defined by using an enzymatic numerical
membrane system to integrate two proportional-integral-derivative controllers, where neural networks and experts’ knowledge are applied to
tune parameters. Extensive experiments conducted on the simulated wheeled mobile robots show the effectiveness of this approach.The work of XW and GZ is supported by the National Natural Science Foundation of China (61170016, 61373047). The work of MG, FI and RL was supported by a grant of the Romanian National Authority for Scientific Research, CNCS-UEFISCDI (project number: PN-II-ID-PCE-2011-3-0688)
