Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels
This study designed an algorithm for the intelligent control of the motion of a mobile robot with mecanum wheels. After reviewing the model kinematics and dynamics of the robot, we conducted a synthesis of the neural control algorithm to determine network weight adaptation, according to Lyapunov sta...
Saved in:
| Published in | Applied sciences Vol. 12; no. 11; p. 5322 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Basel
MDPI AG
01.06.2022
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 2076-3417 2076-3417 |
| DOI | 10.3390/app12115322 |
Cover
| Abstract | This study designed an algorithm for the intelligent control of the motion of a mobile robot with mecanum wheels. After reviewing the model kinematics and dynamics of the robot, we conducted a synthesis of the neural control algorithm to determine network weight adaptation, according to Lyapunov stability theory. Using a MATLAB/Simulink computing environment, we developed a numerical simulation for the implementation of the robot’s motion path with parametric disturbances acting on the control object. To determine the quality of the implementation of the desired motion path, a numerical test of the robot’s motion, controlled with the use of a PD controller, was conducted. The proposed control algorithm was verified on a laboratory stand equipped with a dSpace DS1103 controller board and a Husarion Panther four-wheeled mobile robot with mecanum wheels. The conducted research confirmed the improved implementation of the desired motion path by a robot controlled with the use of an intelligent control system. |
|---|---|
| AbstractList | This study designed an algorithm for the intelligent control of the motion of a mobile robot with mecanum wheels. After reviewing the model kinematics and dynamics of the robot, we conducted a synthesis of the neural control algorithm to determine network weight adaptation, according to Lyapunov stability theory. Using a MATLAB/Simulink computing environment, we developed a numerical simulation for the implementation of the robot’s motion path with parametric disturbances acting on the control object. To determine the quality of the implementation of the desired motion path, a numerical test of the robot’s motion, controlled with the use of a PD controller, was conducted. The proposed control algorithm was verified on a laboratory stand equipped with a dSpace DS1103 controller board and a Husarion Panther four-wheeled mobile robot with mecanum wheels. The conducted research confirmed the improved implementation of the desired motion path by a robot controlled with the use of an intelligent control system. |
| Author | Szeremeta, Mateusz Szuster, Marcin |
| Author_xml | – sequence: 1 givenname: Mateusz orcidid: 0000-0003-0489-4438 surname: Szeremeta fullname: Szeremeta, Mateusz – sequence: 2 givenname: Marcin orcidid: 0000-0002-9713-4456 surname: Szuster fullname: Szuster, Marcin |
| BookMark | eNqFkV1LHDEUhkNR0KpX_oFAL9tp8zH52MuyVGvZVRDFy3Ame0azzU6mmRnEf9-4K0Wk4Lk5h_CcB86bj2SvSx0ScsrZVyln7Bv0PRecKynEB3IomNGVrLnZezUfkJNhWLNSMy4tZ4fk1yVOGSK9yeB_h-6ezlM35hRpainQszTl6u4BMeKKLlMTItLr1KSRPobxgS7RQzdt6JYYjsl-C3HAk5d-RG7PftzMf1aLq_OL-fdF5aWux4ojMK-lVb6U9bVWzKyE1dbPWlWLRtdGlhO0Qo1ojNJKqRUTbdtICxJaeUQudt5VgrXrc9hAfnIJgts-pHzvII_BR3RcyMY32PCST61YGa1SyKzn1qiZUMX1Zeeauh6eHiHGf0LO3HOs7lWsBf-0w_uc_kw4jG5dEurKtU5oU0uhrTCF-ryjfE7DkLF9x8nf0D6MMIbnf4AQ_7vzF8JzlGc |
| CitedBy_id | crossref_primary_10_48084_etasr_5761 crossref_primary_10_3390_math13050789 crossref_primary_10_3390_sym15010221 crossref_primary_10_5937_fme2302140H crossref_primary_10_1049_tje2_70006 crossref_primary_10_1109_ACCESS_2025_3546864 crossref_primary_10_3390_math12213324 crossref_primary_10_3390_s25030709 crossref_primary_10_1007_s12206_024_1042_8 crossref_primary_10_3390_electronics14030444 crossref_primary_10_3390_machines10100886 crossref_primary_10_1016_j_mechmachtheory_2023_105548 crossref_primary_10_3390_machines11010014 crossref_primary_10_3390_math12244013 crossref_primary_10_3390_act13020046 crossref_primary_10_3390_s24227233 crossref_primary_10_1049_cth2_12656 |
| Cites_doi | 10.1002/zamm.201900173 10.1109/AQTR.2014.6857869 10.1007/978-3-319-91262-2_67 10.18196/jrc.v3i2.13765 10.1109/ICRA.2016.7487389 10.23917/arstech.v1i2.39 10.1007/978-3-030-74893-7_21 10.1109/87.486346 10.1515/IJNSNS.2010.11.S1.91 10.1109/ICRoM.2013.6510105 10.1109/FUZZY.2010.5584223 10.1109/NIR50484.2020.9290193 10.1016/j.isatra.2021.03.035 10.1016/j.isatra.2021.10.017 10.1016/j.matpr.2021.12.398 10.1515/eng-2016-0007 10.1007/s11071-021-06985-0 10.1016/j.compeleceng.2021.107500 10.1515/ijame-2017-0005 10.1007/978-3-030-74893-7_10 10.1007/BF02551274 10.3390/app8122562 10.5772/62129 10.23919/CCC52363.2021.9549243 10.1007/978-3-319-68826-8 10.1002/tee.23521 10.1016/j.mechatronics.2018.05.014 10.1007/s10846-019-01083-1 10.1016/j.asoc.2022.108588 10.3390/app10175858 10.1007/s12206-022-0337-x 10.3390/app9153057 10.1109/CCTA.2017.8062502 10.1109/TNN.2005.863416 10.18196/jrc.v3i1.11660 10.1007/s12555-018-0633-5 10.1016/j.isatra.2018.10.043 10.1016/j.ijleo.2020.166055 10.1016/j.isatra.2022.04.021 10.1016/j.ymssp.2020.107128 10.1007/s11071-016-3179-1 10.1007/978-3-030-13273-6_32 10.1109/ISITIA.2015.7219952 10.3390/app12073560 10.1007/978-3-030-13273-6_33 10.3390/app11136023 10.1109/M2VIP.2016.7827337 10.18196/jrc.v3i1.12956 10.1016/j.robot.2016.01.002 10.1109/TII.2020.2983841 10.3390/s20010075 |
| ContentType | Journal Article |
| Copyright | 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. |
| Copyright_xml | – notice: 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. |
| DBID | AAYXX CITATION ABUWG AFKRA AZQEC BENPR CCPQU DWQXO PHGZM PHGZT PIMPY PKEHL PQEST PQQKQ PQUKI PRINS ADTOC UNPAY DOA |
| DOI | 10.3390/app12115322 |
| DatabaseName | CrossRef ProQuest Central (Alumni) ProQuest Central ProQuest Central Essentials - QC ProQuest Central ProQuest One Community College ProQuest Central ProQuest Central Premium ProQuest One Academic (New) Publicly Available Content Database ProQuest One Academic Middle East (New) ProQuest One Academic Eastern Edition (DO NOT USE) ProQuest One Academic ProQuest One Academic UKI Edition ProQuest Central China Unpaywall for CDI: Periodical Content Unpaywall DOAJ Directory of Open Access Journals |
| DatabaseTitle | CrossRef Publicly Available Content Database ProQuest One Academic Middle East (New) ProQuest Central Essentials ProQuest One Academic Eastern Edition ProQuest Central (Alumni Edition) ProQuest One Community College ProQuest Central China ProQuest Central ProQuest One Academic UKI Edition ProQuest Central Korea ProQuest Central (New) ProQuest One Academic ProQuest One Academic (New) |
| DatabaseTitleList | CrossRef Publicly Available Content Database |
| Database_xml | – sequence: 1 dbid: DOA name: DOAJ Directory of Open Access Journals url: https://www.doaj.org/ sourceTypes: Open Website – sequence: 2 dbid: UNPAY name: Unpaywall url: https://proxy.k.utb.cz/login?url=https://unpaywall.org/ sourceTypes: Open Access Repository – sequence: 3 dbid: BENPR name: ProQuest Central url: http://www.proquest.com/pqcentral?accountid=15518 sourceTypes: Aggregation Database |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering Sciences (General) |
| EISSN | 2076-3417 |
| ExternalDocumentID | oai_doaj_org_article_123bcbeb1390450cbe855e08c1875925 10.3390/app12115322 10_3390_app12115322 |
| GroupedDBID | .4S 2XV 5VS 7XC 8CJ 8FE 8FG 8FH AADQD AAFWJ AAYXX ADBBV ADMLS AFKRA AFPKN AFZYC ALMA_UNASSIGNED_HOLDINGS APEBS ARCSS BCNDV BENPR CCPQU CITATION CZ9 D1I D1J D1K GROUPED_DOAJ IAO IGS ITC K6- K6V KC. KQ8 L6V LK5 LK8 M7R MODMG M~E OK1 P62 PHGZM PHGZT PIMPY PROAC TUS ABUWG AZQEC DWQXO PKEHL PQEST PQQKQ PQUKI PRINS ADTOC IPNFZ RIG UNPAY |
| ID | FETCH-LOGICAL-c364t-1ea0c6385cccc8c46507d2868c9f542b647332265e6ee7756555d02ffb38a3af3 |
| IEDL.DBID | BENPR |
| ISSN | 2076-3417 |
| IngestDate | Tue Oct 14 19:03:56 EDT 2025 Sun Oct 26 04:03:35 EDT 2025 Mon Jun 30 11:00:48 EDT 2025 Thu Oct 16 04:43:24 EDT 2025 Thu Apr 24 22:59:24 EDT 2025 |
| IsDoiOpenAccess | true |
| IsOpenAccess | true |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 11 |
| Language | English |
| License | cc-by |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c364t-1ea0c6385cccc8c46507d2868c9f542b647332265e6ee7756555d02ffb38a3af3 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 |
| ORCID | 0000-0003-0489-4438 0000-0002-9713-4456 |
| OpenAccessLink | https://www.proquest.com/docview/2674326827?pq-origsite=%requestingapplication%&accountid=15518 |
| PQID | 2674326827 |
| PQPubID | 2032433 |
| ParticipantIDs | doaj_primary_oai_doaj_org_article_123bcbeb1390450cbe855e08c1875925 unpaywall_primary_10_3390_app12115322 proquest_journals_2674326827 crossref_primary_10_3390_app12115322 crossref_citationtrail_10_3390_app12115322 |
| PublicationCentury | 2000 |
| PublicationDate | 2022-06-01 |
| PublicationDateYYYYMMDD | 2022-06-01 |
| PublicationDate_xml | – month: 06 year: 2022 text: 2022-06-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationPlace | Basel |
| PublicationPlace_xml | – name: Basel |
| PublicationTitle | Applied sciences |
| PublicationYear | 2022 |
| Publisher | MDPI AG |
| Publisher_xml | – name: MDPI AG |
| References | Dian (ref_62) 2020; 17 Ginting (ref_28) 2022; 3 Zhou (ref_61) 2021; 227 ref_14 ref_58 ref_13 ref_57 ref_12 ref_56 ref_11 Jabeur (ref_27) 2022; 3 Wu (ref_32) 2018; 53 ref_53 Szuster (ref_35) 2016; 13 ref_52 Cybenko (ref_51) 1989; 2 ref_19 ref_18 ref_59 Lu (ref_55) 2019; 86 Wang (ref_47) 2020; 98 Reguii (ref_23) 2022; 3 Hendzel (ref_7) 2015; 26 ref_24 Sun (ref_38) 2021; 96 ref_21 ref_20 Jiang (ref_46) 2022; 17 Zijie (ref_50) 2019; 17 Sun (ref_39) 2021; 147 ref_26 Becker (ref_17) 2014; 2 Velagic (ref_2) 2008; 47 Li (ref_9) 2018; 2018 Azlan (ref_1) 2020; 1 Muni (ref_29) 2022; 119 ref_36 Wu (ref_31) 2022; 121 ref_33 Cao (ref_49) 2022; 36 ref_30 Tsai (ref_54) 2010; 11 ref_37 Gao (ref_60) 2006; 17 Watanabe (ref_3) 1996; 4 ref_45 ref_43 ref_41 Vera (ref_22) 2022; 3 Taheri (ref_10) 2015; 113 Alakshendra (ref_42) 2017; 87 Zeidis (ref_16) 2019; 99 Zhao (ref_44) 2022; 107 Yadav (ref_40) 2022; 56 ref_48 ref_8 Muszynska (ref_34) 2016; 6 ref_5 Hendzel (ref_15) 2017; 22 ref_4 Xin (ref_25) 2016; 78 ref_6 |
| References_xml | – volume: 99 start-page: e201900173 year: 2019 ident: ref_16 article-title: Dynamics of a four wheeled mobile robot with Mecanum wheels publication-title: J. Appl. Math. Mech. Z. Angew. Math. Mech. doi: 10.1002/zamm.201900173 – ident: ref_21 doi: 10.1109/AQTR.2014.6857869 – ident: ref_6 doi: 10.1007/978-3-319-91262-2_67 – volume: 3 start-page: 166 year: 2022 ident: ref_23 article-title: Mobile Robot Navigation Using Planning Algorithm and Sliding Mode Control in a Cluttered Environment publication-title: J. Robot. Control doi: 10.18196/jrc.v3i2.13765 – ident: ref_19 doi: 10.1109/ICRA.2016.7487389 – volume: 1 start-page: 71 year: 2020 ident: ref_1 article-title: Prototype development of mecanum wheels mobile robot: A review publication-title: Appl. Res. Smart Technol. doi: 10.23917/arstech.v1i2.39 – ident: ref_43 doi: 10.1007/978-3-030-74893-7_21 – volume: 4 start-page: 193 year: 1996 ident: ref_3 article-title: A fuzzy-Gaussian neural network and its application to mobile robot control publication-title: IEEE Trans. Control Syst. Technol. doi: 10.1109/87.486346 – volume: 11 start-page: 91 year: 2010 ident: ref_54 article-title: Intelligent adaptive motion controller design for mecanum wheeled omnidirectional robots with parameter variations publication-title: Int. J. Nonlinear Sci. Numer. Simul. doi: 10.1515/IJNSNS.2010.11.S1.91 – ident: ref_58 doi: 10.1109/ICRoM.2013.6510105 – ident: ref_53 doi: 10.1109/FUZZY.2010.5584223 – ident: ref_18 doi: 10.1109/NIR50484.2020.9290193 – volume: 121 start-page: 258 year: 2022 ident: ref_31 article-title: Adaptive fractional-order non-singular terminal sliding mode control based on fuzzy wavelet neural networks for omnidirectional mobile robot manipulator publication-title: ISA Trans. doi: 10.1016/j.isatra.2021.03.035 – ident: ref_33 doi: 10.1016/j.isatra.2021.10.017 – volume: 56 start-page: 623 year: 2022 ident: ref_40 article-title: A robust sliding mode control of mecanum wheel-chair for trajectory tracking publication-title: Mater. Today Proc. doi: 10.1016/j.matpr.2021.12.398 – volume: 6 start-page: 64 year: 2016 ident: ref_34 article-title: Verification hybrid control of a wheeled mobile robot and manipulator publication-title: Open Eng. doi: 10.1515/eng-2016-0007 – volume: 107 start-page: 921 year: 2022 ident: ref_44 article-title: Fixed-time observer-based adaptive fuzzy tracking control for Mecanum-wheel mobile robots with guaranteed transient performance publication-title: Nonlinear Dyn. doi: 10.1007/s11071-021-06985-0 – volume: 47 start-page: 193 year: 2008 ident: ref_2 article-title: Neural network controller for mobile robot motion control publication-title: World Acad. Sci. Eng. Technol. – volume: 96 start-page: 107500 year: 2021 ident: ref_38 article-title: Trajectory-tracking control of Mecanum-wheeled omnidirectional mobile robots using adaptive integral terminal sliding mode publication-title: Comput. Electr. Eng. doi: 10.1016/j.compeleceng.2021.107500 – volume: 22 start-page: 81 year: 2017 ident: ref_15 article-title: Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind publication-title: Int. J. Appl. Mech. Eng. doi: 10.1515/ijame-2017-0005 – ident: ref_56 – ident: ref_52 – ident: ref_48 – ident: ref_37 doi: 10.1007/978-3-030-74893-7_10 – volume: 2 start-page: 303 year: 1989 ident: ref_51 article-title: Approximation by superpositions of a sigmoidal function publication-title: Math. Control Signals Syst. doi: 10.1007/BF02551274 – ident: ref_4 doi: 10.3390/app8122562 – volume: 13 start-page: 16 year: 2016 ident: ref_35 article-title: Approximate dynamic programming in tracking control of a robotic manipulator publication-title: Int. J. Adv. Robot. Syst. doi: 10.5772/62129 – ident: ref_45 doi: 10.23919/CCC52363.2021.9549243 – volume: 3 start-page: 86 year: 2022 ident: ref_22 article-title: Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty publication-title: J. Robot. Control – ident: ref_36 doi: 10.1007/978-3-319-68826-8 – volume: 17 start-page: 378 year: 2022 ident: ref_46 article-title: Adaptive Backstepping Control for Mecanum-Wheeled Omnidirectional Vehicle Using Neural Networks publication-title: IEEJ Trans. Electr. Electron. Eng. doi: 10.1002/tee.23521 – volume: 53 start-page: 85 year: 2018 ident: ref_32 article-title: Development of an RBFN-based neural-fuzzy adaptive control strategy for an upper limb rehabilitation exoskeleton publication-title: Mechatronics doi: 10.1016/j.mechatronics.2018.05.014 – volume: 98 start-page: 439 year: 2020 ident: ref_47 article-title: A robust model predictive control strategy for trajectory tracking of omni-directional mobile robots publication-title: J. Intell. Robot. Syst. doi: 10.1007/s10846-019-01083-1 – volume: 119 start-page: 108588 year: 2022 ident: ref_29 article-title: Towards motion planning of humanoids using a fuzzy embedded neural network approach publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2022.108588 – volume: 2018 start-page: 1 year: 2018 ident: ref_9 article-title: Modeling and kinematics simulation of a Mecanum wheel platform in RecurDyn publication-title: J. Robot. – ident: ref_26 doi: 10.3390/app10175858 – ident: ref_59 – volume: 36 start-page: 2019 year: 2022 ident: ref_49 article-title: Fuzzy adaptive PID control method for multi-mecanum-wheeled mobile robot publication-title: J. Mech. Sci. Technol. doi: 10.1007/s12206-022-0337-x – ident: ref_5 doi: 10.3390/app9153057 – ident: ref_12 doi: 10.1109/CCTA.2017.8062502 – volume: 17 start-page: 147 year: 2006 ident: ref_60 article-title: Neural network control of a class of nonlinear systems with actuator saturation publication-title: IEEE Trans. Neural Netw. doi: 10.1109/TNN.2005.863416 – volume: 3 start-page: 62 year: 2022 ident: ref_27 article-title: Optimized Neural networks-PID Controller with Wind Rejection Strategy for a Quad-rotor publication-title: J. Robot. Control doi: 10.18196/jrc.v3i1.11660 – volume: 17 start-page: 2354 year: 2019 ident: ref_50 article-title: Fuzzy control strategy for course correction of omnidirectional mobile robot publication-title: Int. J. Control Autom. Syst. doi: 10.1007/s12555-018-0633-5 – volume: 86 start-page: 201 year: 2019 ident: ref_55 article-title: Neural network adaptive sliding mode control for omnidirectional vehicle with uncertainties publication-title: ISA Trans. doi: 10.1016/j.isatra.2018.10.043 – volume: 227 start-page: 166055 year: 2021 ident: ref_61 article-title: Adaptive sliding mode control of manipulators based on fuzzy random vector function links for friction compensation publication-title: Optik doi: 10.1016/j.ijleo.2020.166055 – ident: ref_24 doi: 10.1016/j.isatra.2022.04.021 – volume: 113 start-page: 6 year: 2015 ident: ref_10 article-title: Kinematic model of a four mecanum wheeled mobile robot publication-title: Int. J. Comput. Appl. – volume: 147 start-page: 107128 year: 2021 ident: ref_39 article-title: Path-following control of Mecanum-wheels omnidirectional mobile robots using nonsingular terminal sliding mode publication-title: Mech. Syst. Signal Process. doi: 10.1016/j.ymssp.2020.107128 – volume: 26 start-page: 5 year: 2015 ident: ref_7 article-title: Description of kinematics of a wheeled mobile robot with mecanum wheels publication-title: Model. Eng. – volume: 87 start-page: 2147 year: 2017 ident: ref_42 article-title: Adaptive robust control of Mecanum-wheeled mobile robot with uncertainties publication-title: Nonlinear Dyn. doi: 10.1007/s11071-016-3179-1 – ident: ref_20 doi: 10.1007/978-3-030-13273-6_32 – ident: ref_13 doi: 10.1109/ISITIA.2015.7219952 – ident: ref_41 doi: 10.3390/app12073560 – ident: ref_8 doi: 10.1007/978-3-030-13273-6_33 – ident: ref_30 doi: 10.3390/app11136023 – ident: ref_14 doi: 10.1109/M2VIP.2016.7827337 – volume: 2 start-page: 27 year: 2014 ident: ref_17 article-title: An approach to the kinematics and dynamics of a four-wheel Mecanum vehicle publication-title: Sci. J. IFToMM Probl. Mech. – volume: 3 start-page: 101 year: 2022 ident: ref_28 article-title: Attitude Control of a Quadrotor with Fuzzy Logic Controller on SO (3) publication-title: J. Robot. Control doi: 10.18196/jrc.v3i1.12956 – ident: ref_57 – volume: 78 start-page: 36 year: 2016 ident: ref_25 article-title: Robust adaptive tracking control of wheeled mobile robot publication-title: Robot. Auton. Syst. doi: 10.1016/j.robot.2016.01.002 – volume: 17 start-page: 1470 year: 2020 ident: ref_62 article-title: Modeling and trajectory tracking control for magnetic wheeled mobile robots based on improved dual-heuristic dynamic programming publication-title: IEEE Trans. Ind. Inform. doi: 10.1109/TII.2020.2983841 – ident: ref_11 doi: 10.3390/s20010075 |
| SSID | ssj0000913810 |
| Score | 2.3911085 |
| Snippet | This study designed an algorithm for the intelligent control of the motion of a mobile robot with mecanum wheels. After reviewing the model kinematics and... |
| SourceID | doaj unpaywall proquest crossref |
| SourceType | Open Website Open Access Repository Aggregation Database Enrichment Source Index Database |
| StartPage | 5322 |
| SubjectTerms | Adaptation Control algorithms Controllers Cooperation intelligent control Kinematics Lyapunov stability theory Mathematical models mecanum wheels Motion control neural networks Robots Simulation tracking control wheeled mobile robot |
| SummonAdditionalLinks | – databaseName: DOAJ Directory of Open Access Journals dbid: DOA link: http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV3NS8MwFA-yi3oQNxWrU3KYoEKxS5o0PepwjME8iIPdSj5Pcx2uQ_zvfWm70YHoxZ5KeSnp-8p7ad7vIdTrS98OibNQaAMJCnU8lEKL0IH0nTSKJMLXO09e-Ggaj2ds1mj15c-EVfDAFeMewLMqrcCjQHIeswhuBWM2EroPkXZKSvTSSKSNZKr0wWnfQ1dVBXkUhvr_wR7NjFFCdpagEql_J7zcXy-W8utTzueNlWZ4jI7qEBE_VlNroz276KDDBnBgB7Vrk1zh2xo3-u4EjT3QBgyE5Uf7DXA8qI6h49xhiYfw2hBcLywzBk9yBd4Av-YqL7DfisUTCzxev-OSYnWKpsPnt8EorFslhJryuAj7VkYaTIlpuISOIe5KDBFc6NSxmCgeJxS-nDPLrU0SiOIYMxFxTlEhqXT0DLUW-cKeI2wi43RqLI9lGkvHFTfUCEa40ikDew_Q_YZ7ma5xxH07i3kG-YRnddZgdYB6W-JlBZ_xM9mTF8OWxGNelw9AE7JaE7K_NCFA3Y0Qs9oQVxnxRRaEC5IE6GYr2N_mcvEfc7lEB8TXSZTbNV3UKj7W9gqil0Jdl4r6DWTt6VY priority: 102 providerName: Directory of Open Access Journals – databaseName: Unpaywall dbid: UNPAY link: http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LS8NAEB60HtSDb7FaZUEFFSLpJrvZHOujiFARsaCnsM-LtRGbIvrrnW3SUkXUnEKYDZvMe3fnG4CDpvTtkDgLhDaYoESOB1JoETjkvpNG0UT4eufODb_qxtcP7GEG9se1MFP79xGm434b14OQMZS7WZjjDAPuGsx1b25bj75tHGbhAdrhpKy8-z7ii68ZQfJ_iSPnh_0X-f4me70pl9JehovxZMqTJE-nw0Kd6o9vOI1_zHYFlqqQkrRKGViFGdtfg8UpoME1WK1UeECOKpzp43W49sAcOBDdlfYL5uS8PLZOckckaeNrAzTV6JYM6eQKrQe5y1VeEL90SzoWeTJ8JiOKwQZ025f351dB1Voh0BGPi6BpZahR9ZjGS-gY47TEUMGFTh2LqeJxEuFHcGa5tUmCUR9jJqTOqUjISLpoE2r9vG-3gJjQOJ0ay2OZxtJxxU1kBKNc6ZShfajDyZgJma5wx337i16G-Yf_a9nUX6vDwYT4pYTb-JnszHNzQuIxskcPkBlZpXIZ-mSlFfoiHByzEG8FYzYUuok5WkpZHRpjWcgqxR1k1BdlUC5oUofDiXz8Npftf9LtwAL1pROjFZwG1IrXod3FgKZQe5VAfwKQ8u6n priority: 102 providerName: Unpaywall |
| Title | Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels |
| URI | https://www.proquest.com/docview/2674326827 https://doi.org/10.3390/app12115322 https://doaj.org/article/123bcbeb1390450cbe855e08c1875925 |
| UnpaywallVersion | publishedVersion |
| Volume | 12 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVAFT databaseName: Open Access Digital Library customDbUrl: eissn: 2076-3417 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0000913810 issn: 2076-3417 databaseCode: KQ8 dateStart: 20110101 isFulltext: true titleUrlDefault: http://grweb.coalliance.org/oadl/oadl.html providerName: Colorado Alliance of Research Libraries – providerCode: PRVAON databaseName: DOAJ Directory of Open Access Journals customDbUrl: eissn: 2076-3417 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0000913810 issn: 2076-3417 databaseCode: DOA dateStart: 20110101 isFulltext: true titleUrlDefault: https://www.doaj.org/ providerName: Directory of Open Access Journals – providerCode: PRVEBS databaseName: Inspec with Full Text customDbUrl: eissn: 2076-3417 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0000913810 issn: 2076-3417 databaseCode: ADMLS dateStart: 20120901 isFulltext: true titleUrlDefault: https://www.ebsco.com/products/research-databases/inspec-full-text providerName: EBSCOhost – providerCode: PRVHPJ databaseName: ROAD: Directory of Open Access Scholarly Resources customDbUrl: eissn: 2076-3417 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0000913810 issn: 2076-3417 databaseCode: M~E dateStart: 20110101 isFulltext: true titleUrlDefault: https://road.issn.org providerName: ISSN International Centre – providerCode: PRVPQU databaseName: ProQuest Central customDbUrl: http://www.proquest.com/pqcentral?accountid=15518 eissn: 2076-3417 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0000913810 issn: 2076-3417 databaseCode: BENPR dateStart: 20110101 isFulltext: true titleUrlDefault: https://www.proquest.com/central providerName: ProQuest – providerCode: PRVPQU databaseName: ProQuest Technology Collection customDbUrl: eissn: 2076-3417 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0000913810 issn: 2076-3417 databaseCode: 8FG dateStart: 20110101 isFulltext: true titleUrlDefault: https://search.proquest.com/technologycollection1 providerName: ProQuest |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwfV3Nb9MwFH_augNwQGyAKIzKhyEBUkRqx45zQGibVqZJraaJSuMU-ZNLacraCvHf817qlE5CyymJbCt5z-_T9u8BnAwNlUNSMtPOY4AiosqMdjqLyP1ovOWlpvPO44m6nBZXt_J2DybdWRjaVtnpxFZR-8ZRjvwTp93yXGlefln8yqhqFK2udiU0TCqt4D-3EGP7cMAJGasHB2cXk-ubbdaFUDD1MN8c1BMY79M6MaGcScH5PdPUIvjfczsfrecL8-e3mc12LNDoGTxNriM73fD6EPbC_Aie7AAKHsFhEtUle5_wpD88hysC4MCOaJYcJcbZ-WZ7OmsiM2yEw2aoktH8eDZuLGoJdtPYZsUoRcvGAWm__snaFssXMB1dfDu_zFIJhcwJVayyYTC5QxGTDi_tCvTHSs-10q6KsuBWFaXAP1cyqBDKEr07KX3OY7RCG2GieAm9eTMPr4D53EdX-aAKUxUmKqu88FpyZV0lUQ_04WNHvdolfHEqczGrMc4gUtc7pO7DybbxYgOr8f9mZ8SGbRPCwm5fNHc_6iRaNdpe6yzaHOxcyBxvtZQh126IsVjFZR-OOybWSUCX9b_p1Id3W8Y-9C2vHx7mDTzmdDKiTdAcQ291tw5v0V9Z2QHs69HXQZqKgzbqx6fp5Pr0-18Mh-ui |
| linkProvider | ProQuest |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1Lb9NAEB6V9lA4IFpABArsoZUAycLZl9eHCtHSKH0kQlUr9Wb2ySXEoUlU9c_x25h11iGVUG_1ybJ2V9bM7Lx25xuA3a6O7ZCkyJR1GKCwIDOtrMoCcj9oZ2ihYr3zYCj7l_zkSlytwZ-2FiZeq2x1YqOoXW1jjvwzjbflqVS0-DL5ncWuUfF0tW2hoVNrBbffQIylwo5Tf3uDIdx0__gb8nuP0t7RxWE_S10GMsskn2Vdr3OLUigsPspydFkKR5VUtgyCUyN5wVDqpfDS-6JAB0gIl9MQDFOa6cBw3UewwRkvMfjbODgafj9fZnki6qbq5ovCQMbKPJ5LR1Q1wSi9YwqbjgF33NzN-Xiib2_0aLRi8XrP4GlyVcnXhWxtwZofb8OTFQDDbdhKqmFKPiT86o_P4SQCfuBENIM2JuLJ4eI6PKkD0aSHy2ZoAtDcOTKoDWolcl6bekZiSpgMPPJ6_os0I6Yv4PJBiPkS1sf12L8C4nIXbOm85LrkOkgjHXNKUGlsKVDvdOBTS73KJjzz2FZjVGFcE0ldrZC6A7vLwZMFjMf_hx1ENiyHROzt5kN9_bNKW7lCW2-sQRuHk7nI8VUJ4XNluxj7lVR0YKdlYpUUwrT6J74d2Fsy9r5_eX3_Mu9hs38xOKvOjoenb-AxjVUZTXJoB9Zn13P_Fn2lmXmXBJLAj4feA38BZaEkRg |
| linkToPdf | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1Lb9NAEB6VIvE4IFpABArsoZUAycLZ9a7XB4SgxfRBKoSo1Ju7Ty4hDk2iqn-NX8eMHyGVUG_1ybLGK2tnPK-d-QZge2hoHJKSiXYeAxQRVWK000lE7kfjLc819TuPjtX-SXZ4Kk_X4E_fC0Nllb1ObBS1rx3lyN9xqpbnSmOoHruyiG975Yfp74QmSNFJaz9OoxWRo3B5geHb7P3BHvJ6h_Py84_d_aSbMJA4obJ5MgwmdSiB0uGlXYbuSu65VtoVUWbcqiwXKPFKBhVCnqPzI6VPeYxWaCNMFLjuLbidE4o7damXX5b5HcLb1MO0bQkUokjpRJrw1KTg_IoRbGYFXHFw7y4mU3N5YcbjFVtXPoQHnZPKPrZStQFrYbIJ91egCzdho1MKM_a6Q65-8wgOCeoDX0QD6CgFz3bbQnhWR2ZYicsmqPzR0Hk2qi3qI_a9tvWcUTKYjQJyefGLNRSzx3ByI1v5BNYn9SQ8BeZTH13hg8pMkZmorPLCa8mVdYVEjTOAt_3uVa5DMqeBGuMKIxra6mplqwewvSSetgAe_yf7RGxYkhDqdvOgPv9ZdT9xhVbeOovWDV_OZIq3WsqQajfEqK_gcgBbPROrThXMqn-CO4CdJWOv-5Zn1y_zCu6g5FdfD46PnsM9Tu0YTVZoC9bn54vwAp2kuX3ZSCODs5sW_79eASHg |
| linkToUnpaywall | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LS8NAEB60HtSDb7FaZUEFFSLpJrvZHOujiFARsaCnsM-LtRGbIvrrnW3SUkXUnEKYDZvMe3fnG4CDpvTtkDgLhDaYoESOB1JoETjkvpNG0UT4eufODb_qxtcP7GEG9se1MFP79xGm434b14OQMZS7WZjjDAPuGsx1b25bj75tHGbhAdrhpKy8-z7ii68ZQfJ_iSPnh_0X-f4me70pl9JehovxZMqTJE-nw0Kd6o9vOI1_zHYFlqqQkrRKGViFGdtfg8UpoME1WK1UeECOKpzp43W49sAcOBDdlfYL5uS8PLZOckckaeNrAzTV6JYM6eQKrQe5y1VeEL90SzoWeTJ8JiOKwQZ025f351dB1Voh0BGPi6BpZahR9ZjGS-gY47TEUMGFTh2LqeJxEuFHcGa5tUmCUR9jJqTOqUjISLpoE2r9vG-3gJjQOJ0ay2OZxtJxxU1kBKNc6ZShfajDyZgJma5wx337i16G-Yf_a9nUX6vDwYT4pYTb-JnszHNzQuIxskcPkBlZpXIZ-mSlFfoiHByzEG8FYzYUuok5WkpZHRpjWcgqxR1k1BdlUC5oUofDiXz8Npftf9LtwAL1pROjFZwG1IrXod3FgKZQe5VAfwKQ8u6n |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Neural+Tracking+Control+of+a+Four-Wheeled+Mobile+Robot+with+Mecanum+Wheels&rft.jtitle=Applied+sciences&rft.au=Szeremeta%2C+Mateusz&rft.au=Szuster%2C+Marcin&rft.date=2022-06-01&rft.pub=MDPI+AG&rft.eissn=2076-3417&rft.volume=12&rft.issue=11&rft.spage=5322&rft_id=info:doi/10.3390%2Fapp12115322&rft.externalDBID=HAS_PDF_LINK |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2076-3417&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2076-3417&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2076-3417&client=summon |