Three-Wheeled Mobile Robot Trajectory Tracking Control Using Nonlinear PID Controller Based Neural Network Combined With Backstepping Controller

Three-Wheeled Mobile Robot Trajectory Tracking Control Using Nonlinear PID Controller Based Neural Network Combined With Backstepping Controller

This paper presents a novel approach for the trajectory tracking control of a three wheeled mobile robot using neural network based nonlinear PID controller combined with the backstepping control techniques. First, the kinematic and dynamic model of the robot was derived using the Lagrangian method....

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Bibliographic Details
Main Authors: Tolera Beharu Arega, Yalew Mersha Tesfa, Chala Merga Abdissa
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Backstepping control
dynamics
kinematics
neural network
nonlinear PID control
trajectory tracking
Online Access:https://ieeexplore.ieee.org/document/11027057/
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https://ieeexplore.ieee.org/document/11027057/

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