{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,10]],"date-time":"2026-04-10T14:44:34Z","timestamp":1775832274489,"version":"3.50.1"},"reference-count":26,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2023,1,30]],"date-time":"2023-01-30T00:00:00Z","timestamp":1675036800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["62203314"],"award-info":[{"award-number":["62203314"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Entropy"],"abstract":"<jats:p>This paper proposes a new trajectory tracking control scheme for the four mecanums wheel omnidirectional mobile robot (FM-OMR). Considering the influence of uncertainty on tracking accuracy, a self-organizing fuzzy neural network approximator (SOT1FNNA) is proposed to estimate the uncertainty. In particular, since the structure of traditional approximation network is preset, it will cause problems such as input constraints and rule redundancy, resulting in low adaptability of the controller. Therefore, a self-organizing algorithm including rule growth and local access is designed according to the tracking control requirements of omnidirectional mobile robots. In addition, a preview strategy (PS) based on Bezier curve trajectory re-planning is proposed to solve the problem of tracking curve instability caused by the lag of tracking starting point. Finally, the simulation verifies the effectiveness of this method in tracking and trajectory starting point optimization.<\/jats:p>","DOI":"10.3390\/e25020248","type":"journal-article","created":{"date-parts":[[2023,1,30]],"date-time":"2023-01-30T04:31:27Z","timestamp":1675053087000},"page":"248","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Trajectory Tracking Control Method for Omnidirectional Mobile Robot Based on Self-Organizing Fuzzy Neural Network and Preview Strategy"],"prefix":"10.3390","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5127-5301","authenticated-orcid":false,"given":"Tao","family":"Zhao","sequence":"first","affiliation":[{"name":"College of Electrical Engineering, Sichuan University, Chengdu 610065, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peng","family":"Qin","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering, Sichuan University, Chengdu 610065, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuzhong","family":"Zhong","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering, Sichuan University, Chengdu 610065, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,1,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"8877","DOI":"10.1109\/ACCESS.2021.3049913","article-title":"Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach","volume":"9","author":"Dong","year":"2021","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1078","DOI":"10.1007\/s12555-020-0026-4","article-title":"Robust Adaptive Terminal Sliding Mode Control of an Omnidirectional Mobile Robot for Aircraft Skin Inspection","volume":"19","author":"Feng","year":"2020","journal-title":"Int. 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