本文主要针对非完整移动机器人进行运动学和动力学建模、分析与轨迹跟踪控制器设计的研究。
Analysis, kinematic and dynamical modeling and trajectory tracking controller designing for a mobile robot are studied in this thesis.
研究了非完整移动机器人动力学模型中带有参数不确定和控制受限的鲁棒轨迹跟踪控制器的设计问题。
Designing of robust trajectory tracking controller for mobile robots with parametric uncertainties in the dynamic model and with bounded input is investigated.
然后将该算法应用于一典型非完整移动机器人的输出跟踪控制问题，仿真结果表明了该方法的有效性。
The proposed algorithm is then applied to the output tracking problem of a typical mobile robot, and numerical simulation is also performed to show the efficiency of the proposed algorithm.
针对非完整移动机器人的轨迹跟踪控制问题，提出了一种鲁棒项系数自调整的神经网络滑模自适应控制策略。
An adaptive neural sliding mode control strategy with the self-tuning of robust item coefficients is proposed for the trajectory tracking of non-holonomic wheeled mobile robots.
然后在研制的非完整两轮驱动移动机器人的实验平台上对该算法进行了实时轨迹跟踪实验，结果表明了该非线性跟踪控制算法的有效性。
Furthermore, the implementation platform of a two-wheel driven mobile robot is developed to perform the real-time trajectory tracking algorithms, and the experiment res…
然后在研制的非完整两轮驱动移动机器人的实验平台上对该算法进行了实时轨迹跟踪实验，结果表明了该非线性跟踪控制算法的有效性。
Furthermore, the implementation platform of a two-wheel driven mobile robot is developed to perform the real-time trajectory tracking algorithms, and the experiment res…
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