%0 Journal Article
%T Adaptive tracking control of non-holonomic wheeled mobile robot including actuator dynamics<br>含有驱动器模型的移动机器人自适应跟踪控制
%A YUE Li-yong
%A XIE Wei
%A <br>岳李勇
%A 谢巍
%J 控制理论与应用
%D 2008
%I 
%X An adaptive controller for trajectory tracking of a wheeled mobile robot(WMR) including actuator dynamics is proposed. We use a nonlinear function to eliminate the influence of the disturbance on the tracking, which guarantees the robustness of the tracking performance. The radial basis function neural network(RBF NN) is used to compensate the influence of the surface friction on the tracking, which guarantees the WMR to track on a rough surface. The simulation results show the effectiveness of the proposed controller.
%K wheeled mobile robot(WMR)
%K adaptive control
%K Backstepping technique
%K trajectory tracking
%K radial basis function neural network(RBF NN)<br>移动机器人
%K 自适应控制
%K 反步设计
%K 路径跟踪
%K 径向基神经网络
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=23342BFFEAE4F172AE17A8A5F3F1DB66&yid=67289AFF6305E306&vid=C5154311167311FE&iid=B31275AF3241DB2D&sid=FC20C40D27903A85&eid=6FEA2FD9BDAB9923&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=9