关键词: 非完整约束；移动机器人；神经网络；Lyapunov函数

Abstract:

To deal with the unknown factors of nonholonomic mobile robot, such as model uncertainties and external disturbances, a robust controller with bounded estimation based on neural network was proposed. The knowledge of dynamics parameters and external disturbances of the mobile robot were assumed to be unknown. The proposed controller can overcome the uncertainties and the disturbances. And the stability of the proposed controller was proven by using Lyapunov function. The simulation results demonstrate that the proposed method has good robustness and adaptation.

Key words: nonholonomic constraint, mobile robot, neural network, Lyapunov function