Open Access Open Access  Restricted Access Subscription Access


Nguyen Van Tinh, Le Hung Linh


In this paper, Lagrange formula is employed with the purpose of modelling the both kinematics and dynamics of a nonholonomic wheeled mobile robot (WMR) subject to unknown wheel slips, model uncertainties such as such as unstructured unmodelled dynamic components, and unknown external disturbances such as unknown external forces. Afterwards, an adaptive tracking controller based on the radial basis function neural network (RBFNN) with an online weight tuning algorithm is proposed for tracking a predefined trajectory. The online weight tuning algorithm is modified from the backpropagation plus an e-modification term required for ensuring that the weights are bounded. Preliminary neural network offline training is not needed for the weights since they are easily initialized. Thanks to this proposed controller, a desired tracking performance is obtained in which not only position tracking errors uniformly ultimately converge to an arbitrarily small neighborhood of the origin but also the RBFNN weights are bounded. In the sense of Lyapunov and LaSalle extension, the stability of the whole closed-loop system is guaranteed to achieve this desired tracking performance. The result of computer simulation has validated the rightness and efficiency of the proposed controller.


Online weight tuning algorithm, wheeled mobile robot, uniformly ultimately bounded, unknown wheel slip


T. Fukao, H. Nakagawa, N. Adachi, “Adaptive tracking control of a nonholonomic mobile robot”, IEEE Trans. Robot. Autom, vol. 16, no. 1, pp. 609-615, 2000.

D. Chwa, “Fuzzy adaptive tracking control of wheeled mobile robots with state-dependent kinematic and dynamic disturbances,” IEEE Trans. Fuzzy Syst, vol. 20, no. 3, pp. 587-593, 2012.

R. Fierro, F. L. Lewis, “Control of a Nonholonomic Mobile Robot Using Neural Networks”, IEEE Trans. Neur. Netw. vol. 9, no. 4, pp. 589-600, 1998.

D. Chwa, “Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates”, IEEE Trans. Control Syst. Technol, vol. 12, no. 4, pp. 637-644, 2004.

C. Y. Chen, T. H. S. Li, Y. C. Yeh, C. C. Chang, “Design and implementation of an adaptive sliding mode dynamic controller for wheeled mobile robots”, Mechatronics, vol. 19, no. 2, pp. 156-166, 2009.

H. Gao, X. Song, L. Ding, K. Xia, N. Li, Z. Deng, Adaptive motion control of wheeled mobile robot with unknown slippage, Int. J. Control, vol. 87, no. 8, pp. 1513–1522, 2014.

M. Seyr, S. Jakubek, Proprioceptive Navigation, Slip Estimation and Slip Control for Autonomous Wheeled Mobile Robots, in: Proc. of the IEEE Conf. on Robot, Autom and Mecha, 2006, pp. 1–6.

L. Chang Boon, W. Danwei, Integrated Estimation for Wheeled Mobile Robot posture, velocities, and wheel skidding perturbations, in: Proc of the IEEE Int Conf on Robot and Autom, 2007, pp. 2355–2360.

D. Wang, C.B. Low, Modeling and analysis of skidding and slipping in wheeled mobile robots: control design perspective, IEEE Trans. Robot, vol. 24, no. 3, pp. 676–687, 2008.

C.B. Low, D. Wang, GPS-based path following control for a car-like wheeled mobile robot with skidding and slipping, IEEE Trans. Control Syst. Technol, vol. 16, no. 2, pp. 340–347, 2008.

C.B. Low, D. Wang, GPS-based tracking control for a car-like wheeled mobile robot with skidding and slipping, IEEE Trans. Mechatron, vol. 13, no. 4, pp. 480–484, 2008.

S. J. Yoo, Adaptive neural tracking and obstacle avoidance of uncertain mobile robots with unknown skidding and slipping, Information Sciences, vol. 238, pp. 176–189, 2013.

S. A. A. Moosavian, and A. Kalantari, Experimental slip estimation for exact kinematics modeling and control of a tracked mobile robot. Proc. IEEE/RSJ Int Conf on Intel Robo and Syst, 2008, pp. 95–100.

L. Ding, H. B. Gao, Z. Q. Deng, and Z. Liu, Slip-ratio-coordinated control of planetary exploration robots traversing over deformable rough terrain. IEEE IntConf on Intel Robo and Syst, 2010, pp. 4958–4963.

N. V. Tinh, N. T. Linh, P. T. Cat, P. M. Tuan, M. N. Anh, N. P. Anh, “Modeling and Feedback Linearization Control of a Nonholonomic Wheeled Mobile Robot with with Longitudinal, Lateral Slips”, IEEE Int Conf on Autom Sci and Engi, 2016, pp. 21-24.

K. S. Narendra, “Adaptive control using neural networks,” in Neural Networks for Control, W. T. Miller, R. S. Sutton, and P. W. Werbos, Eds. Cambridge, MA: MIT Press, 1991, pp. 115–142.

Full Text: PDF


  • There are currently no refbacks.

Journal of Computer Science and Cybernetics ISSN: 1813-9663

Published by Vietnam Academy of Science and Technology