Adaptive tracking control of non-holonomic wheeled mobile robot including actuator dynamics
含有驱动器模型的移动机器人自适应跟踪控制

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.