Work

Designing a Robust Adaptive Tracking Backtepping Controller Considering Actuator Saturation for a Wheeled Mobile Robot to Compensate Unknown Slippage

Year: 2020

Type: article

Abstract: This article highlights a robust adaptive tracking backstepping control approach for a nonholonomic wheeled mobile robot (WMR) by which the bad problems of both unknown slippage and uncertainties are dealt with. The radial basis function neural network (RBFNN) in this proposed controller assists unknown smooth nonlinear dynamic functions to be approximated. Furthermore, a technical solution is also carried out to avoid actuator saturation. The validity and efficiency of this novel controller, finally, are illustrated via comparative simulation results.

Source: Journal of Computer Science and Cybernetics

DOI: 10.15625/1813-9663/36/2/14807

Authors: Chung Le, Kiem Nguyen Tien, Linh Nguyen, Tinh Nguyen, Tung Hoang

Institutions: Thai Nguyen University of Information and Communication Technology, Hanoi University of Industry, Electric Power University, Viện Công nghệ thông tin, Vietnam Academy of Science and Technology

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funder: Vietnam Academy of Science and Technology

OpenAlex ID: W3034920969

FWCI:

Cites: 32

Cited by: 2

Related to: 10