2023
DOI: 10.20944/preprints202311.0803.v1
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Research on Some Control Algorithms to Compensate for the Negative Effects of Model Uncertainty Parameters, External Interference, and Wheel Slip for Mobile Robot

Vo Thu Hà,
Than Thi Thuong,
Nguyen Thi Thanh
et al.

Abstract: In this article, the research team has systematically developed a method to model the kinematics and dynamics of a 3-wheeled robot subjected to external disturbances and sideways wheel sliding. These models will be used to design control laws that compensate for wheel slippage, model uncertainties, and external disturbances. These are control algorithms developed based on Dynamic Surface Control (DSC). Adaptive trajectory tracking DSC algorithm using fuzzy logic system (AFDSC) and radial neural network (RBFNN)… Show more

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