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

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.