Abstract
This paper investigates the tracking control of mobile robot in the presence of wheel slip and external disturbance forces. An adaptive tracking controller is proposed based on a three-layer neural networks. The uncertainties due to the wheel slip and external force are compensated online by neural networks. The stability of the closed-loop system is ensured by using Lyapunov method. The validity of the proposed controller is confirmed by a simulation example of tracking a circle trajectory.
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Hoang, NB., Kang, HJ. (2014). An Adaptive Tracking Controller for Differential Wheeled Mobile Robots with Unknown Wheel Slips. In: Huang, DS., Bevilacqua, V., Premaratne, P. (eds) Intelligent Computing Theory. ICIC 2014. Lecture Notes in Computer Science, vol 8588. Springer, Cham. https://doi.org/10.1007/978-3-319-09333-8_30
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DOI: https://doi.org/10.1007/978-3-319-09333-8_30
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-09332-1
Online ISBN: 978-3-319-09333-8
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