Control of uncertain wheeled mobile robots with slipping

Abstract

This paper considers the path tracking control of a wheeled mobile robot with slipping and unknown dynamics. A robust adaptive neural network based controller is proposed with the aid of backstepping techniques and the learning ability of neural networks. The proposed controller guarantees that the tracking error converges to a small ball of the origin and the radius of the ball can be adjusted by selecting appropriate parameters. Simulation results show effectiveness of the proposed controller.