Adaptive Fuzzy Backstepping Sliding Mode Control for Omni Mobile Robot Over Network Control System

  • Minh Ngoc PhamEmail author
  • Vinh Quang Thai
  • Duyen Kim Thi Ha
  • Tien Manh Ngo
  • Cuong Manh Nguyen
  • Manh Van Tran
  • Hiep Quang Do
Part of the Studies in Computational Intelligence book series (SCI, volume 899)


The performance characteristic of the control system over a network can be significantly affected by network delay effects. These effects can be more exacerbated when data loss occurs during network communication. Thus, in this paper network effects could be resolved by utilizing a structure of gain scheduler middleware (GSM) in setting robot path-tracking. Simultaneously, this teleoperation control approach combines with the Adaptive Backstepping Sliding Mode controller based on self—tuning Fuzzy adapting control parameters to stabilize the control system. The simulation result of the proposed controller operating over data network depicts that the control quality would be improved than normal Backstepping Sliding Mode Control without GSM methodology even in disturbance environment.


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021

Authors and Affiliations

  • Minh Ngoc Pham
    • 1
    Email author
  • Vinh Quang Thai
    • 1
  • Duyen Kim Thi Ha
    • 2
  • Tien Manh Ngo
    • 3
  • Cuong Manh Nguyen
    • 3
  • Manh Van Tran
    • 3
  • Hiep Quang Do
    • 4
  1. 1.Institute of Information TechnologyVietnam Academy of Science and TechnologyHanoiVietnam
  2. 2.Hanoi University of IndustryHanoiVietnam
  3. 3.Institute of PhysicsVietnam Academy of Science and TechnologyHanoiVietnam
  4. 4.University of Economics-Technology for IndustriesHanoiVietnam

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