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An Adaptive Tracking Controller for Differential Wheeled Mobile Robots with Unknown Wheel Slips

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Intelligent Computing Theory (ICIC 2014)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 8588))

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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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References

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Author information

Authors and Affiliations

  1. Graduate School of Electrical Engineering, University of Ulsan, 680–749, Ulsan, South Korea

    Ngoc-Bach Hoang

  2. School of Electrical Engineering, University of Ulsan, 680-749, Ulsan, South Korea

    Hee-Jun Kang

Authors
  1. Ngoc-Bach Hoang
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  2. Hee-Jun Kang
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Editor information

Editors and Affiliations

  1. School of Electronics and Information Engineering, Tongji University, 4800 Caoan Road, 201804, Shanghai, China

    De-Shuang Huang

  2. Electrical and Electronics Department, Politecnico of Bari, Via Orabona, 4,, 70125, Bari, Italy

    Vitoantonio Bevilacqua

  3. School of Electrical, Computer and Telecommunications Engineering, University of Wollongon, 2522, North Wollongon, NSW, Australia

    Prashan Premaratne

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© 2014 Springer International Publishing Switzerland

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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

  • eBook Packages: Computer ScienceComputer Science (R0)

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