基于神经动力学的非完整移动机器人跟踪控制

主要研究了非完整移动机器人轨迹跟踪问题。基于后退控制和神经动力学生物激励模型，采用自适应参数调节的方法提出了一种新的跟踪控制器。该控制器能够生成平稳合理的速度，解决了以往大部分跟踪控制器所产生的速度突变问题，并且具有很好的鲁棒性。运用李雅普诺夫稳定性理论证明控制系统的稳定性。对连续、离散轨迹的仿真及与传统后退方法的比较分析验证了该方法的有效性。

Neural Dynamics Based Tracking Control for Nonholonomic Mobile Robots

This paper proposes a novel tracking control approach for nonholonomic mobile robots by integrating the neural dynamics model into the backstepping technique,and an adaptive parameter model is utilized to implement robust tracking.This control method resolves the speed jump problem existing in some previous tracking controllers.The stability of the control system is proved with Lyapunov stability theory.Simulation results of continuous and discrete paths and the comparison with conventional backstepping technique show that the presented method is effective.