Summary of doctoral thesis Electrical, electronic and Telecommuication engineering: Adaptive dynamic surface trajectory tracking control for the four-wheeled omnidirectional mobile robot

Research and propose a novel adaptive trajectory tracking algorithm for FWOMR ‘s nonlinear uncertain model which is influenced by the change of robot parameters and the effect of noise when operating on another plane; construct the physical model of FWOMR and the controller based on the microchip and embedded programming technique to experiment with the proposed algorithms.
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Summary of doctoral thesis Electrical, electronic and Telecommuication engineering: Adaptive dynamic surface trajectory tracking control for the four-wheeled omnidirectional mobile robot MINISTRY OF EDUCATION VIETNAM ACADEMY OF SCIENCE AND TRAINING AND TECHNOLOGY GRADUATE UNIVERSITY OF SCIENCE AND TECHNOLOGY ------------------------------- HA THI KIM DUYEN ADAPTIVE DYNAMIC SURFACE TRAJECTORY TRACKING CONTROL FOR THE FOUR-WHEELED OMNIDIRECTIONAL MOBILE ROBOT Majors: Control and Automation Engineering Code: 9 52 02 16 ELECTRICAL, ELECTRONIC AND TELECOMMUICATION ENGINEERING Hanoi – 2020 Publications at: Graduate University of Science and Technology – Vietnam Academy of Science anf Technology Advisor 1: Prof. Phan Xuan Minh Advisor 2: Dr. Pham Van Bach Ngoc Reviewer 1: Reviewer 2: Reviewer 3: The thesis is defended at the PhD dissertation committee, which meets at Graduate University of Science and Technology – Vietnam Academy of Science and Technology at…………,2020 Thesis can be found at: - Library of Graduate University of Science and Technology - National Library of Vietnam LIST OF AUTHOR’S PUBLICATIONS SCIENTIFIC JOURNAL 1. Duyen Ha Thi Kim, Tien Ngo Manh, Cuong Nguyen Manh, Nhan Duc Nguyen, Manh Tran Van, Dung Pham Tien, Minh Phan Xuan. “Adaptive Control for Uncertain Model of Omni-directional Mobile Robot Based on Radial Basis Function Neural Network”. International Journal of Control, Automation, and Systems (SCI-E Q2, Impact Factor: 2.7) (Accepted 2020) 2. Ha Thi Kim Duyen, Ngo Manh Tien, Pham Ngoc Minh, Quang Vinh Thai, Phan Xuan Minh, Pham Tien Dung, Nguyen Duc Dinh, Hiep Do Quang, “Fuzzy Adaptive Dynamic Surface Control for Omnidirectional Robot”, the Springer-Verlag book series “Computational Intelligence” indexed in Scopus and Compendex (Ei). ISSN 1860-9503 (electronic), ISBN 978-3-030-49536-7 (eBook). https://doi.org/10.1007/978-3-030- 49536-7. (2020) 3. Hà Thị Kim Duyên, Phạm Thị Thanh Huyền, Trương Bích Liên, Ngô Mạnh Tiến, Lê Việt Anh, Nguyễn Mạnh Cường, “Điều khiển bám quỹ đạo đối thượng Robot tự hành bằng thuật toán điều khiển trượt theo hàm mũ”, Tạp chí Nghiên cứu KH&CN quân sự, Số Đặc san ACMEC, 07 – 2017. ISSN 1859 - 1043 4. H T ị D , Ngô Mạnh Tiến, Phan Xuân, Minh Lê Xuân Hải, Vũ Đức Thuận, Nguyễn Minh Huy, “Điều khiển bám quỹ đạo Omni robot bốn bánh bằng phương pháp thích nghi mờ trượt”. Tạp chí Nghiên cứu Khoa học và Công nghệ quân sự. Số đặc san ACMEC 07-2017. ISSN 1859 - 1043 5. Ngo Manh Tien, Nguyen Nhu Chien, Do Hoang Viet, Ha Thi Kim Duyen “Research And Development Artificial Intelligence To Track Trajectory And Automatically Path Planning For Auto Car”. Journal of Military Science and Technology; ISSN 1859 – 1043. 11/2018 6. Duyen – Ha Thi Kim, Tien – Ngo Manh, Chien – Nguyen Nhu, Viet – Do Hoang, Huong-Nguyen Thi Thu Kien-Phung Chi, “Tracking Control For Electro-Optical System In Vibration Enviroment Based On Self-Tuning Fuzzy Sliding Mode Control”, Journal of Computer Science and Cybernetics, Vol 02, 6.2019. SCIENTIFIC CONFERENCE 7. Ngô Mạnh Tiến, Nguyễn Như Chiến, Đỗ Hoàng Việt, H T ị D , Nguyễn Tuấn Nghĩa, “Trajectory Tracking Control for Four Wheeled Omnidirectional Mobile Robots using Adaptive Fuzzy Dynamic Surface Control Algorithm”, Proceedings the 4th Vietnam International Conference and Exhibition on Control and Automation VCCA- 2017; ISBN 978-604-73-5569-3 8. Duyen Ha Thi Kim, Tien Ngo Manh, Tuan Pham Duc and Ngoc Pham Van Bach, “Trajectory Tracking Control for Omnidirectional Mobile Robots Using Direct Adaptive Neural Network Dynamic Surface Controller”. The 2019 First International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics. 1/2019. NSPEC Accession Number: 18473513, DOI: 10.1109/ICA-SYMP.2019.8646146. 9. Ha Thi Kim Duyen, Cuong Nguyen Manh, Hoang Thuat Vo, Manh Tran Van, Dinh Nguyen Duc, Anh Dung Bui, “Trajectory tracking control for four wheeled Omni- directional mobile Robot using backstepping technique aggregated with sliding mode control”, The 2019 First International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics. 1/2019. INSPEC Accession Number: 18473501, DOI: 10.1109/ICA-SYMP.2019.8646041. 10. Ngô Mạnh Tiến, Nguyễn Mạnh Cường, H T ị D , Phan Sỹ Thuần, Nguyễn Ngọc Hải, Trần Văn Hoàng, Nguyễn Văn Dũng, “Giám sát định vị, bản đồ hóa và điều hướng cho robot tự hành đa hướng sử dụng hệ điều hành lập trình ROS”, Hội nghị Quốc gia lần thứ XXII về Điện tử, Truyền thông và Công nghệ Thông tin lần thứ 22, 2019. 1 INTRODUCTION 1. Rasionale of the thesis Omni-directional mobile robot (OMR) is a holonomic robot using Omni or Mecanum wheel, which can move in any direction without changing the robot’s position and rotation angle. Due to the outstandingly moving in narrow environmental conditions when using the particular wheel structure and wheel layout, OMR is being widely applied and developed not only in research but has quickly become widely used in production and life fields. In robot control, the problem of trajectory tracking control, dealing with external disturbance, and the uncertain part existing in the robot model, including mass, moment, and friction,… is the content which is significantly focused in research. The task which is to guarantee the high accuracy in the robot motion is commonly difficult because ...