Adaptive Position Tracking System and Force Control Strategy for Mobile Robot Manipulators Using Fuzzy Wavelet Neural Networks

@article{Mai2015AdaptivePT,
  title={Adaptive Position Tracking System and Force Control Strategy for Mobile Robot Manipulators Using Fuzzy Wavelet Neural Networks},
  author={Long Thang Mai and Nan Yao Wang},
  journal={J. Intell. Robotic Syst.},
  year={2015},
  volume={79},
  pages={175-195}
}
In this paper, we propose an adaptive position tracking system and a force control strategy for nonholonomic mobile robot manipulators, which incorporate the merits of Fuzzy Wavelet Neural Networks (FWNNs). In general, it is not easy to adopt a model-based method to achieve this control object due to the uncertainties of mobile robot manipulators control system, such as unknown dynamics, disturbances and parameter variations. To solve this problem, an adaptive FWNNs control scheme with the… 
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