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

  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.},
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… 
Hybrid adaptive tracking control method for mobile manipulator robot based on Proportional–Integral–Derivative technique
  • T. Mai
  • Engineering
    Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
  • 2021
In this research, an adaptive tracking control method for the nonholonomic robot system is addressed based on the hybrid Proportional–Integral–Derivative (PID) technique, with improvements for tracking control performance and the stability of the proposed control system is maintained.
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