TY - JOUR AU - Le, Chung AU - Tien, Kiem Nguyen AU - Nguyen, Linh AU - Nguyen, Tinh AU - Hoang, Tung PY - 2020/05/11 Y2 - 2024/03/29 TI - DESIGNING A ROBUST ADAPTIVE TRACKING BACKTEPPING CONTROLLER CONSIDERING ACTUATOR SATURATION FOR A WHEELED MOBILE ROBOT TO COMPENSATE UNKNOWN SLIPPAGE JF - Journal of Computer Science and Cybernetics JA - JCC VL - 36 IS - 2 SE - Articles DO - 10.15625/1813-9663/36/2/14807 UR - https://vjs.ac.vn/index.php/jcc/article/view/14807 SP - 187--204 AB - <span>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.</span> ER -