Adaptive NN-based finite-time trajectory tracking control of wheeled robotic systems

Abstract

The trajectory tracking and finite-time control problems of wheeled robotic systems with nonlinear dynamics and uncertainties are investigated in this paper. An adaptive neural network (NN)-based control technique is developed to deal with the nonlinearities and uncertainties. Then, finite-time dynamic control and kinematic control schemes are constructed on the basis of the adaptive estimations to remedy the negative influence of uncertainties and nonlinearities. Specific forward and azimuthal angular velocities are developed by using NN-based kinematic control schemes to obtain the finite-time tracking of the desired position trajectory for the wheeled robotic system. Furthermore, the asymptotic tracking of the specific forward and azimuthal angular velocities is further achieved based on the finite-time dynamic control schemes with uncertainties and nonlinear dynamics. The efficacy of the developed finite-time tracking control approach is substantiated by a robotic system.