Robust backstepping and neural network control of a low-quality nonholonomic mobile robot

Leader–follower formation control of nonholonomic mobile robots based on a bioinspired neurodynamic based approach

“…By analyzing the backstepping technology based tracking controller proposed in [19,[28][29][30], it is well known that the velocityjumps are caused by the sudden changes in the tracking error, particularly x je and y je . Inspired by the smooth neural dynamics of the shunting neural model, a biological tracking controller is proposed to solve the velocity-jumps problem.…”

Wheeled mobile robot design with robustness properties

“…Without loss of generality, the trajectory tracking performance in equation (16) will be modified as the following minimax problem for the nonzero initial conditions:ẽ(0) 6 ¼ 0…”

“…Generally speaking, this is a very difficult mission for researchers to develop such a control design for WMRs simultaneously possess (1) simple and easy implementation control structure, (2) error convergence, and (3) control performance guarantee design under the effects of internal and external disturbances. By the survey of existing literatures for the trajectory tracking design of WMRs, many investigations without taking the internal and external disturbances into account have been studied, and the developed tracking control methods for this trajectory tracking issue focus on four groups: (1) sliding mode control, [7][8][9][10][11][12] (2) feedback linearization, 13,14 (3) backstepping, [15][16][17] and (4) neural networks and fuzzy approaches. [18][19][20][21][22][23] Although these methods worked well without considering the effects of disturbances, there still exist several disadvantages.…”

Autonomous mobile robot navigation system designed in dynamic environment based on transferable belief model

“…The kinematic model of an ideal mobile robot is widely used in the mobile robot (MR) control [30][31][32][33][34][35][36][37]. The MR with two driven wheels shown in Fig.…”