Designing a Robust Adaptive Tracking Backtepping Controller Considering Actuator Saturation for a Wheeled Mobile Robot to Compensate Unknown Slippage

Abstract

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.