{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,19]],"date-time":"2026-01-19T01:42:13Z","timestamp":1768786933579,"version":"3.49.0"},"reference-count":23,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2019,9,17]],"date-time":"2019-09-17T00:00:00Z","timestamp":1568678400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2019,11,14]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Trajectory tracking is a common problem in the field of mobile robots which has attracted a lot of attention in the past two decades. Therefore, besides the search for new controllers to achieve a better performance, improvement and optimization of existing control rules are necessary. Trajectory tracking control laws usually contain constant gains which affect greatly the robot\u2019s performance.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>In this paper, a method based on neural networks is introduced to automatically upgrade the gains of a well-known trajectory tracking controller of wheeled mobile robots. The suggested method speeds up the convergence rate of the main controller.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Simulations and experiments are performed to assess the ability of the suggested scheme. The obtained results show the effectiveness of the proposed method.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>In this paper, a method based on neural networks is introduced to automatically upgrade the gains of a well-known trajectory tracking controller of wheeled mobile robots. The suggested method speeds up the convergence rate of the main controller.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-02-2019-0032","type":"journal-article","created":{"date-parts":[[2019,9,17]],"date-time":"2019-09-17T05:40:12Z","timestamp":1568698812000},"page":"828-838","source":"Crossref","is-referenced-by-count":13,"title":["A self-tuning trajectory tracking controller for wheeled mobile 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