Title :
Control of uncertain wheeled mobile robots with slipping
Author_Institution :
Dept. of Electr. Eng., Univ. of Texas, Edinburg, TX, USA
Abstract :
This paper considers the path tracking control of a wheeled mobile robot with slipping and unknown dynamics. A robust adaptive neural network based controller is proposed with the aid of backstepping techniques and the learning ability of neural networks. The proposed controller guarantees that the tracking error converges to a small ball of the origin and the radius of the ball can be adjusted by selecting appropriate parameters. Simulation results show effectiveness of the proposed controller.
Keywords :
adaptive control; learning systems; mobile robots; neurocontrollers; position control; robot dynamics; robust control; backstepping techniques; learning ability; path tracking control; robust adaptive neural network based controller; slipping dynamics; tracking error; uncertain wheeled mobile robot control; unknown dynamics; Artificial neural networks; Kinematics; Mobile robots; Robot kinematics; Robustness; Uncertainty;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5717600
