Trajectory Tracking Control Method for Omnidirectional Mobile Robot Based on Self-Organizing Fuzzy Neural Network and Preview Strategy

This paper proposes a new trajectory tracking control scheme for the four mecanums wheel omnidirectional mobile robot (FM-OMR). Considering the influence of uncertainty on tracking accuracy, a self-organizing fuzzy neural network approximator (SOT1FNNA) is proposed to estimate the uncertainty. In pa...

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Bibliographic Details
Published in:	Entropy (Basel, Switzerland) Vol. 25; no. 2; p. 248
Main Authors:	Zhao, Tao, Qin, Peng, Zhong, Yuzhong
Format:	Journal Article
Language:	English
Published:	Switzerland MDPI AG 30.01.2023 MDPI
Subjects:	Access control Algorithms Approximation Artificial neural networks Control Control methods Curves Equipment and supplies Fuzzy algorithms Fuzzy logic Fuzzy sets Fuzzy systems Kinematics Mobile robots Neural networks omnidirectional mobile robot Optimization preview strategy Redundancy Robots Robust control self-organizing Self-organizing systems Strategy Tracking control Tracking systems Trajectory control Trajectory planning trajectory tracking Uncertainty Velocity China self-organizing omnidirectional mobile robot preview strategy trajectory tracking
ISSN:	1099-4300, 1099-4300
Online Access:	Get full text
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