Trajectory Tracking of WMR with Neural Adaptive Correction

Sahbi Boubaker (), Jeremias Gaia, Eduardo Zavalla, Souad Kamel, Faisal S. Alsubaei, Farid Bourennani and Francisco Rossomando
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Sahbi Boubaker: Department of Computer and Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia
Jeremias Gaia: Instituto de Automatica, UNSJ-CONICET, San Juan CP 5400, Argentina
Eduardo Zavalla: Instituto de Automatica, UNSJ-CONICET, San Juan CP 5400, Argentina
Souad Kamel: Department of Computer and Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia
Faisal S. Alsubaei: Department of Cybersecurity, College of Computer Science and Engineering, University of Jeddah, Jeddah 23218, Saudi Arabia
Farid Bourennani: Department of Information Systems and Technology, College of Computer Science and Engineering, University of Jeddah, Jeddah 23218, Saudi Arabia
Francisco Rossomando: Instituto de Automatica, UNSJ-CONICET, San Juan CP 5400, Argentina

Mathematics, 2025, vol. 13, issue 19, 1-22

Abstract: Wheeled mobile robots (WMRs) are being increasingly integrated into various sectors such as logistics and transportation. However, their accurate trajectory tracking remains a challenge. To address this control issue, this study proposes a trajectory correction technique for a wheeled mobile robot (WMR). This proposal uses a functional-link neural network (FLNN) that adjusts the trajectory error with the aim of minimizing it. This error is propagated backward by adjusting the different parameters of the controller. The controller was designed using a combination of linearization feedback, sliding mode control, and FLNN, where the latter provides adaptability to the controller. Using the Lyapunov stability theory, the stability of the proposal was demonstrated. Experiments and simulation analyses were also carried out to demonstrate the practical feasibility of the proposal.

Keywords: wheeled mobile robot; logistics and transportation; feedback linearization; trajectory tracking; sliding mode control; neural control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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