Neural NetworkForceControl Technique forFourWheelDriven Snow BlowerRobotic Vehicle underUncertain Environment

) Abstract: Inthis paper, neural network force control technique isapplied toafour wheeldriven snowblower vehicle under uncertain environment, unknown stiffness andposition. Thefour wheel driven vehicle isanonlinear system that isdriven byfront andrearsteering angles independently. Theexplicit force controller isusedtoregulate lateral force tracking task withaconstant longitudinal velocity. However, theperformance ofthelateral force tracking task becomes worsewhenuncertain loadfromtheenvironment isapplied tothevehicle. Toimprove theforce tracking task, neural network isadded tocompensate fortheuncertainties fromtheenvironment.