Design neural network-based adaptive controller for underactuated 3-wheeled Mobile Robot

3-wheeled mobile robots (3WMR) are used widely in various industries. They can operate in hazardous environments and complete tasks automatically without direct human intervention. In this paper, since the 3-Wheel Mobile Robot is an insufficient actuated system, the hierarchical sliding mode controller is designed to make the 3WMR system track to the desired trajectory. Moreover, in reality, various disturbances negatively affect the system’s operation. an RBF neural network; therefore, applied to the closed scheme to estimate all the uncertainties and the system’s nonlinearities. The Lyapunov function proves the stability of the closed-loop robot system. The effectiveness of the proposed methods is verified in the simulation section by the Matlab/Simulink platform.