Trajectory tracking intelligent controller for differential wheel mobile robot



  • Vo Thu Ha (Corresponding Author) Faculty of Electrical Engineering, University of Economics - Technology for Industries
  • Nguyen Thi Thanh Faculty of Electrical Engineering, University of Economics - Technology for Industries
  • Than Thi Thuong Faculty of Electrical Engineering, University of Economics - Technology for Industries
  • Bui Huy Hai Faculty of Electrical Engineering, University of Economics - Technology for Industries



Mobile robot; Neural Netwwork-Adaptive backstepping controller.


This paper presents the design and development of a Neural Netwwork-Adaptive backstepping (NN-Adaptive backstepping) controller to track the trajectory of a differentially controlled mobile robot. The controller is designed based on the robot dynamics equation and on the basis of the Backstepping controller. The effectiveness of the proposed controller is verified by simulation on different trajectories and compared with the backstepping controller. Model results The simulation shows that the proposed controller achieves quality better than the Backstepping controller in different trajectories. The tracking performance of the NN-Adaptive backstepping controller compared to the Backstepping controller is clearly improved (performance improved by over 52%), which means that the proposed controller trajectory error output will decrease by this percentage.


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How to Cite

Vo Thu Ha, Nguyen Thi Thanh, Than Thi Thuong, and D. H. Bui Huy. “Trajectory Tracking Intelligent Controller for Differential Wheel Mobile Robot”. Journal of Military Science and Technology, vol. 90, no. 90, Oct. 2023, pp. 11-21, doi:10.54939/1859-1043.j.mst.90.2023.11-21.



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