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Abstract:
In this paper, an adaptive sliding mode controller is designed for the omnidirectional mobile robot with four Mecanum wheels to track the trajectory. The Mecanum wheel mobile robot has been widely used in factories, hospitals, families and other workspaces because of its omnidirectional ability. Consider the dynamic model of the omnidirectional mobile robot based on Mecanum wheel with uncertainties and external disturbances, a neural network adaptive sliding mode control (NNASMC) strategy is proposed, which combines the techniques of Radial Basis Function (RBF) neural network adaptive control method and sliding mode control method. Finally, some simulation experiments are conducted in the Matlab environment. Simulation results demonstrate the effectiveness of the proposed control method. © 2018 Technical Committee on Control Theory, Chinese Association of Automation.
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ISSN: 1934-1768
Year: 2018
Volume: 2018-July
Page: 3983-3987
Language: English
Cited Count:
WoS CC Cited Count: 0
SCOPUS Cited Count: 24
ESI Highly Cited Papers on the List: 0 Unfold All
WanFang Cited Count:
Chinese Cited Count:
30 Days PV: 4
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