2023
DOI: 10.3390/app14010303
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A Novel Zeroing Neural Network Control Scheme for Tracked Mobile Robot Based on an Extended State Observer

Yuxuan Cao,
Jinyun Pu

Abstract: A novel zeroing neural network control scheme based on an extended state observer is proposed for the trajectory tracking of a tracked mobile robot which is subject to unknown external disturbances and uncertainties. To estimate unknown lumped disturbances and unmeasured velocities, a third-order fixed-time extended state observer is proposed, and the observation errors converge to zero in fixed time. Based on the estimated values, the zeroing neural network controller is designed for a tracked mobile robot to… Show more

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