@inproceedings{ec065ff41a69428fba436f81a0ac4933,
title = "Neuro adaptive control of asymmetrically driven mobile robots with uncertainties",
abstract = "This paper presents an adaptive tracking control scheme for asymmetrically actuated wheeled mobile robot (WMR) with uncer-tain/unknown mass center. First, we establish the WMR dynamic model with consideration of the fact that its center of mass is normally unknown or even shifting due to dynamic loading and/or load shifting. Second, a structurally simple controller is developed to deal with time-varying unknown control gain and parametric/non-parametric uncertainties of WMR, where the asymmetric and non-smooth input saturation with no a prior knowledge of bounds of input saturation is addressed.",
keywords = "Adaptive control, Inputs saturation, Neural network, Uncertain load, WMR",
author = "Zhixi SHEN and Yaping MA and Yongduan SONG",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing AG 2017.",
year = "2017",
doi = "10.1007/978-3-319-59081-3\_14",
language = "English",
isbn = "9783319590806",
series = "Lecture Notes in Computer Science",
publisher = "Springer",
pages = "109--117",
editor = "Fengyu CONG and Andrew LEUNG and Qinglai WEI",
booktitle = "Advances in Neural Networks, ISNN 2017: 14th International Symposium, ISNN 2017, Sapporo, Hakodate, and Muroran, Japan, June 21-26, 2017, Proceedings, Part II",
}