A Novel Zeroing Neural Network Control Scheme for Tracked Mobile Robot Based on an Extended State Observer
Source abstract
Abstract
A novel zeroing neural network control scheme based on an extended state observer is proposed for the trajectory tracking of a tracked mobile robot which is subject to unknown external disturbances and uncertainties. To estimate unknown lumped disturbances and unmeasured velocities, a third-order fixed-time extended state observer is proposed, and the observation errors converge to zero in fixed time. Based on the estimated values, the zeroing neural network controller is designed for a tracked mobile robot to track an eight shape. The stability of the system is analyzed based on Lyapunov theory. Simulation results are illustrated to show the effectiveness of the proposed control scheme.
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Research context
OpenAlex topics: Adaptive Control of Nonlinear Systems · Control and Dynamics of Mobile Robots · Robotic Path Planning Algorithms
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
College of Power Engineering, Naval University of Engineering, Wuhan 430033, China
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