{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,8]],"date-time":"2025-09-08T06:12:06Z","timestamp":1757311926567,"version":"3.41.2"},"reference-count":37,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2012,4,27]],"date-time":"2012-04-27T00:00:00Z","timestamp":1335484800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2012,4,27]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present the radial basis function (RBF) networks\u2010based adaptive robust control for an omni\u2010directional wheeled mobile manipulator in the presence of uncertainties and disturbances.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>First, a dynamic model is obtained based on the practical omni\u2010directional wheeled mobile manipulator system. Second, the RBF neural network is used to identify the unstructured system dynamics directly due to its ability to approximate a nonlinear continuous function to arbitrary accuracy. Using the learning ability of neural networks, RBFNARC can co\u2010ordinately control the omni\u2010directional mobile platform and the mounted manipulator with different dynamics efficiently. The implementation of the control algorithm is dependent on the sliding mode control.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>Based on the Lyapunov stability theory, the stability of the whole control system, the boundedness of the neural networks weight estimation errors, and the uniformly ultimate boundedness of the tracking error are all strictly guaranteed.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>In this paper, an adaptive robust control scheme using neural networks combined with sliding mode control is proposed for crawler\u2010type mobile manipulators in the presence of uncertainties and disturbances. RBF neural networks approximate the system dynamics directly and overcome the structured uncertainty by learning. Based on the Lyapunov stability theory, the stability of the whole control system, the boundedness of the neural networks weight estimation errors, and the uniformly ultimate boundedness of the tracking error are all strictly guaranteed.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911211217099","type":"journal-article","created":{"date-parts":[[2012,4,28]],"date-time":"2012-04-28T07:19:58Z","timestamp":1335597598000},"page":"260-270","source":"Crossref","is-referenced-by-count":7,"title":["Neural networks\u2010based adaptive robust control of crawler\u2010type mobile manipulators using sliding mode approach"],"prefix":"10.1108","volume":"39","author":[{"given":"Yaonan","family":"Wang","sequence":"first","affiliation":[]},{"given":"Xiru","family":"Wu","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022022019480880500_b2","doi-asserted-by":"crossref","unstructured":"Chang, Y. and Chen, B. (1997), \u201cA nonlinear adaptive H\u221e tracking control design in robotic systems via neural networks\u201d, IEEE Trans. Robot. Auto., Vol. 5 No. 1, pp. 13\u201029.","DOI":"10.1109\/87.553662"},{"key":"key2022022019480880500_b29","doi-asserted-by":"crossref","unstructured":"Chen, C. and Lin, C. (2009), \u201cNonlinear system control using adaptive neural fuzzy networks based on a modified differential evolution\u201d, IEEE Trans. Syst. Man Cyb. B, Vol. 39 No. 4, pp. 459\u201073.","DOI":"10.1109\/TSMCC.2009.2016572"},{"key":"key2022022019480880500_b8","doi-asserted-by":"crossref","unstructured":"Dong, W. and Kuhnert, K. (2005), \u201cRobust adaptive control of nonholonomic mobile robot with parameter and nonparameter uncertainties\u201d, IEEE Trans. Robot., Vol. 21 No. 2, pp. 261\u20106.","DOI":"10.1109\/TRO.2004.837236"},{"key":"key2022022019480880500_b13","doi-asserted-by":"crossref","unstructured":"Efe, M. (2008), \u201cFractional fuzzy adaptive sliding\u2010mode control of a 2\u2010DOF direct\u2010drive robot arm\u201d, IEEE Trans. Syst. Man Cyb. B, Vol. 38 No. 6, pp. 1561\u201070.","DOI":"10.1109\/TSMCB.2008.928227"},{"key":"key2022022019480880500_b35","doi-asserted-by":"crossref","unstructured":"Fierro, R. and Lewis, F.L. (1998), \u201cControl of a nonholonomic mobile robot using neural networks\u201d, IEEE Trans. Neural Networks, Vol. 9 No. 4, pp. 589\u2010600.","DOI":"10.1109\/72.701173"},{"key":"key2022022019480880500_b21","unstructured":"Ge, S.S. and Lewis, F.L. (2006), Autonomous Mobile Robots: Sensing, Control, Decision\u2010making, and Applications, CRC Press, Boca Raton, FL."},{"key":"key2022022019480880500_b36","unstructured":"Haykin, S. (1999), Neural Networks a Comprehensive Foundation, Prentice\u2010Hall, Toronto."},{"key":"key2022022019480880500_b1","doi-asserted-by":"crossref","unstructured":"Kim, Y. and Lewis, E. (1999), \u201cNeural network output feedback control of robot manipulators\u201d, IEEE Trans. Robot. Auto., Vol. 15 No. 2, pp. 301\u20109.","DOI":"10.1109\/70.760351"},{"key":"key2022022019480880500_b33","unstructured":"Lewis, F.L., Abdallah, C.T. and Dawson, D.M. (1993), Control of Robot Manipulators, Macmillan, New York, NY."},{"key":"key2022022019480880500_b16","doi-asserted-by":"crossref","unstructured":"Li, Z., Chen, W. and Liu, H. (2008a), \u201cRobust control of wheeled mobile manipulators using hybird joints\u201d, International Journal of Advanced Robotic Systems, Vol. 5 No. 1, pp. 83\u201090.","DOI":"10.5772\/5656"},{"key":"key2022022019480880500_b12","doi-asserted-by":"crossref","unstructured":"Li, Z., Chen, W. and Luo, J. (2008b), \u201cAdaptive compliant force\u2010motion control of coordinated non\u2010holonomic mobile manipulators interacting with unknown non\u2010rigid environments\u201d, Neurocomputing, Vol. 71 No. 10, pp. 1330\u201044.","DOI":"10.1016\/j.neucom.2007.06.001"},{"key":"key2022022019480880500_b18","doi-asserted-by":"crossref","unstructured":"Li, Z., Ge, S.S. and Ming, A. (2007), \u201cAdaptive robust motion\/force control of holonomic\u2010constrained nonholonomic mobile manipulators\u201d, IEEE Trans. Syst. Man Cyb. B, Vol. 37 No. 3, pp. 607\u201016.","DOI":"10.1109\/TSMCB.2006.888661"},{"key":"key2022022019480880500_b7","doi-asserted-by":"crossref","unstructured":"Li, Z., Ge, S.S., Adams, M. and Wijesoma, W.S. (2008c), \u201cRobust adaptive control of uncertain force\/motion constrained nonholonomic mobile manipulators\u201d, Automatica, Vol. 44 No. 1, pp. 776\u201084.","DOI":"10.1016\/j.automatica.2007.07.012"},{"key":"key2022022019480880500_b26","doi-asserted-by":"crossref","unstructured":"Lin, S. and Goldenberg, A. (2001), \u201cNeural\u2010network control of mobile manipulators\u201d, IEEE Trans. Neural Networks, Vol. 12 No. 5, pp. 1121\u201033.","DOI":"10.1109\/72.950141"},{"key":"key2022022019480880500_b14","doi-asserted-by":"crossref","unstructured":"Lin, S. and Goldenberg, A. (2002), \u201cRobust damping control of mobile manipulators\u201d, IEEE Trans. Syst. Man. Cyb., Vol. 32 No. 1, pp. 126\u201032.","DOI":"10.1109\/3477.979968"},{"key":"key2022022019480880500_b6","doi-asserted-by":"crossref","unstructured":"Liu, Y. and Li, Y. (2006), \u201cSliding mode adaptive neural\u2010network control for nonholonomic mobile modular manipulators\u201d, J. Intell. Robot. Syst., Vol. 44 No. 3, pp. 203\u201024.","DOI":"10.1007\/s10846-005-9002-8"},{"key":"key2022022019480880500_b31","doi-asserted-by":"crossref","unstructured":"Mnif, F., Gastli, A. and Jallouli, M. (2007), \u201cAdaptive ANN\u2010based control for constrained robot manipulators\u201d, International Journal of Intelligent Systems Technologies and Applications, Vol. 2 No. 1, pp. 77\u201099.","DOI":"10.1504\/IJISTA.2007.011575"},{"key":"key2022022019480880500_b5","doi-asserted-by":"crossref","unstructured":"Oya, M., Su, C. and Katoh, R. (2003), \u201cRobust adaptive motion\/force tracking control of uncertain nonholonomic mechanical systems\u201d, IEEE Trans. Robot. Auto., Vol. 19 No. 1, pp. 175\u201081.","DOI":"10.1109\/TRA.2002.807528"},{"key":"key2022022019480880500_b24","doi-asserted-by":"crossref","unstructured":"Peng, W., Lin, Z. and Su, J. (2009), \u201cComputed torque control\u2010based composite nonlinear feedback controller for robot manipulators with bounded torques\u201d, IET Control Theory Appllications, Vol. 6 No. 3, pp. 701\u201011.","DOI":"10.1049\/iet-cta.2008.0259"},{"key":"key2022022019480880500_b20","doi-asserted-by":"crossref","unstructured":"Salehi, M. and Vossoughi, G. (2009), \u201cHigh\u2010precision impedance control method for flexible base moving manipulators\u201d, Advanced Robotics, Vol. 23 No. 1, pp. 65\u201087.","DOI":"10.1163\/156855308X392681"},{"key":"key2022022019480880500_b34","doi-asserted-by":"crossref","unstructured":"Sarkar, N., Yun, X. and Kumar, V. (1994), \u201cControl of mechanical systems with rolling constraints: application to dynamic control of mobile robots\u201d, Int. J. Robot. Res., Vol. 13 No. 1, pp. 55\u201069.","DOI":"10.1177\/027836499401300104"},{"key":"key2022022019480880500_b23","doi-asserted-by":"crossref","unstructured":"Seo, D. and Akella, M. (2009), \u201cNon\u2010certainty equivalent adaptive control for robot manipulator systems\u201d, Systems Control Letters, Vol. 58 No. 4, pp. 304\u20108.","DOI":"10.1016\/j.sysconle.2008.11.008"},{"key":"key2022022019480880500_b4","doi-asserted-by":"crossref","unstructured":"Toda, M. (2004), \u201cAn H\u221e control\u2010based approach to robust control of mechanical systems with oscillatory bases\u201d, IEEE Trans. Robot. Auto., Vol. 20 No. 2, pp. 283\u201096.","DOI":"10.1109\/TRA.2004.824642"},{"key":"key2022022019480880500_b15","doi-asserted-by":"crossref","unstructured":"Tsai, C., Cheng, M. and Lin, S. (2006), \u201cDynamic modeling and tracking control of a nonholonomic wheeled mobile manipulator with dual arms\u201d, J. Intell. Robot. Syst., Vol. 47 No. 2, pp. 317\u201040.","DOI":"10.1007\/s10846-006-9072-2"},{"key":"key2022022019480880500_b19","doi-asserted-by":"crossref","unstructured":"Vannoy, J. and Jing, X. (2009), \u201cReal\u2010time adaptive motion planning of mobile manipulators in dynamic environments with unforeseen changes\u201d, IEEE Transactions on Robotics, Vol. 24 No. 5, pp. 1199\u2010212.","DOI":"10.1109\/TRO.2008.2003277"},{"key":"key2022022019480880500_b28","doi-asserted-by":"crossref","unstructured":"Wai, R. and Yang, Z. (2008), \u201cAdaptive fuzzy neural network control design via a T\u2010S fuzzy model for a robot manipulator including actuator dynamics\u201d, IEEE Trans. Syst. Man Cyb. B, Vol. 38 No. 5, pp. 1326\u201046.","DOI":"10.1109\/TSMCB.2008.925749"},{"key":"key2022022019480880500_b22","doi-asserted-by":"crossref","unstructured":"Wang, H. and Xie, Y. (2009), \u201cPassivity based adaptive Jacobian tracking for free\u2010floating space manipulators without using spacecraft acceleration\u201d, Automatica, Vol. 45 No. 6, pp. 1510\u201017.","DOI":"10.1016\/j.automatica.2009.02.013"},{"key":"key2022022019480880500_b11","unstructured":"Watanabe, K. and Sato, K. (2000), \u201cAnalysis and control for an omnidirectional mobile manipulator\u201d, Intell. Robot. Syst., Vol. 27 No. 1, pp. 3\u201020."},{"key":"key2022022019480880500_b3","unstructured":"Watanabe, K., Sato, K., Izumi, K. and Kunitake, Y. (2000), \u201cAnalysis and control for an omnidirectional mobile manipulator\u201d, J. Intell. Robot. Syst., Vol. 27 No. 1, pp. 3\u201020."},{"key":"key2022022019480880500_b27","doi-asserted-by":"crossref","unstructured":"Wu, X., Wang, Y., Huang, L. and Yi, Z. (2010), \u201cRobust exponential stability criterion for uncertain neural networks with discontinuous activation functions and time\u2010varying delays\u201d, Neurocomputing, Vol. 73 No. 7, pp. 1265\u201071.","DOI":"10.1016\/j.neucom.2010.01.002"},{"key":"key2022022019480880500_b10","unstructured":"Xu, D., Zhao, D., Yi, J. and Tan, X. (2007), \u201cRobust adaptive control for omnidirectional mobile manipulator\u201d, Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pp. 3598\u2010603."},{"key":"key2022022019480880500_b9","doi-asserted-by":"crossref","unstructured":"Xu, D., Zhao, D., Yi, J. and Tan, X. (2009), \u201cTrajectory tracking control of omnidirectional wheeled mobile manipulators: robust neural network\u2010based sliding mode approach\u201d, IEEE Trans. Syst. Man Cyb. B, Vol. 39 No. 9, pp. 788\u201099.","DOI":"10.1109\/TSMCB.2008.2009464"},{"key":"key2022022019480880500_b17","doi-asserted-by":"crossref","unstructured":"Yamamoto, Y. and Yun, X. (1994), \u201cCoordinating locomotion and manipulation of a mobile manipulator\u201d, IEEE Transactions on Automatic Control, Vol. 39 No. 6, pp. 1326\u201032.","DOI":"10.1109\/9.293207"},{"key":"key2022022019480880500_b25","doi-asserted-by":"crossref","unstructured":"Zeinali, M. and Notash, L. (2010), \u201cAdaptive sliding mode control with uncertainty estimator for robot manipulators\u201d, Mechanism Machine Theory, Vol. 45 No. 1, pp. 80\u201090.","DOI":"10.1016\/j.mechmachtheory.2009.08.003"},{"key":"key2022022019480880500_b37","unstructured":"Zhu, J., Wang, Y. and Yu, H. (2007), \u201cNeural network\u2010based robust tracking control for nonholonomic mobile robot\u201d, Proceeding ISNN '07 Proceedings of the 4th International Symposium on Neural Networks: Advances in Neural Networks, LNCS 4491, Part I, Springer, Berlin, pp. 808\u201016."},{"key":"key2022022019480880500_b32","doi-asserted-by":"crossref","unstructured":"Zouari, E., Medhaffar, H. and Derbel, N. (2010), \u201cIndirect sliding mode neural\u2010network control for holonomic constrained robot manipulators\u201d, International Journal of Intelligent Systems Technologies and Applications, Vol. 9 No. 2, pp. 150\u201068.","DOI":"10.1504\/IJISTA.2010.034318"},{"key":"key2022022019480880500_b30","unstructured":"Zuo, Y., Wang, Y. and Liu, X. (2010), \u201cNeural network robust H\u221e tracking control strategy for robot manipulators\u201d, Applied Mathematical Modelling, Vol. 34 No. 7, pp. 1823\u201038."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439911211217099","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911211217099\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911211217099\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:54Z","timestamp":1753401054000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/39\/3\/260-270\/180102"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,4,27]]},"references-count":37,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2012,4,27]]}},"alternative-id":["10.1108\/01439911211217099"],"URL":"https:\/\/doi.org\/10.1108\/01439911211217099","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2012,4,27]]}}}