Modeling and tracking control of wheeled mobile robots

The problem of tracking control of wheeled mobile robots (WMRs) using neural network is analyzed in this paper. The synthesis of control systems using the second Lapunov method was carried out. As a result of the synthesis, the stability of the designed systems was proven. A large number of computer simulations for these control systems using Matlab/Simulink package were executed. The results of the theoretical tests were verified by the rapid prototypical method. The rapid prototyping environment for the Pioneer robot was based on the Matlab/Simulink package and dSPACE board.