Open AccessDESIGNING A ROBUST ADAPTIVE TRACKING BACKTEPPING CONTROLLER CONSIDERING ACTUATOR SATURATION FOR A WHEELED MOBILE ROBOT TO COMPENSATE UNKNOWN SLIPPAGE
Author(s) -
Chung Van Le,
Kiem Nguyen Tien,
Linh Nguyen,
Tinh Nguyen,
Tung T. Hoang
Publication year - 2020
Publication title -
journal of computer science and cybernetics (vietnam academy of science and technology)/journal of computer science and cybernetics
Language(s) - English
Resource type - Journals
eISSN - 2815-5939
pISSN - 1813-9663
DOI - 10.15625/1813-9663/36/2/14807
Subject(s) - backstepping , control theory (sociology) , nonholonomic system , slippage , nonlinear system , computer science , mobile robot , actuator , control engineering , controller (irrigation) , robot , engineering , adaptive control , artificial intelligence , control (management) , physics , agronomy , structural engineering , quantum mechanics , biology
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.