Neural Dynamics Based Tracking Control for Nonholonomic Mobile Robots

This paper proposes a novel tracking control approach for nonholonomic mobile robots by integrating the neural dynamics model into the backstepping technique,and an adaptive parameter model is utilized to implement robust tracking.This control method resolves the speed jump problem existing in some previous tracking controllers.The stability of the control system is proved with Lyapunov stability theory.Simulation results of continuous and discrete paths and the comparison with conventional backstepping technique show that the presented method is effective.