Design of Neural Networks – Adaptive Backstepping Controller for Mobile Robots

This paper proposes an algorithm to control the tracing trajectories for mobile robots (WMR) based on a neural network control method combined with a Backstepping technique. The stability of the closed-loop system is stable based on the Lyapunov method. Tracking control algorithm neural network-based adaptive Backstepping controller ensures a sturdy, error-free closed system. The simulation and experimental results on the physical system show the theoretical analysis’s correctness, the proposed controller’s high effectiveness, and applicability in practice. This algorithm was first implemented for mobile robots (WMR) on a highly flexible microcontroller platform.