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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

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. | 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 amp 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