A Gaussian wavelet network-based robust adaptive tracking controller for a wheeled mobile robot with unknown wheel slips |
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| Authors: | Tinh Nguyena Thuong Hoang Minhtuan Pham Namphuong Dao |
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| Affiliation: | 1. Institute of Information Technology, Vietnam Academy of Science and Technology, Hanoi, Vietnam nvtinh@ioit.ac.vn;3. University of Information and Communication Technology, Thai Nguyen University, Thai Nguyen, Vietnam;4. Space Technology Institute, Vietnam Academy of Science and Technology, Hanoi, Vietnam;5. School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam |
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| Abstract: | In this paper, a robust adaptive tracking controller is proposed for a nonholonomic wheeled mobile robot (WMR) in the presence of unknown wheel slips. The role of the Gaussian wavelet network in this proposed controller is to approximate unknown smooth nonlinear dynamic functions due to no prior knowledge of the dynamic parameters of the WMR. In addition, one robust law is employed at the kinematic level so as to compensate the harmful effects of the unknown wheel slips, and another robust law is used at the dynamic level to overcome total uncertainties caused by dynamic parameter variations, external disturbances, etc. The stability of the whole closed-loop control system is proved in accordance with Lyapunov theory and Barbalat's lemma. Ultimately, the simulation results are shown in comparison with those of another control method under the same condition to confirm the validity and efficiency of this proposed control method. |
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| Keywords: | Asymptotic stability Gaussian wavelet network robust adaptive tracking controller wheeled mobile robot unknown wheel slip |
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