关键词: 不确定性, 非完整移动机器人, 轨迹跟踪, 混合控制, 双自适应神经滑模控制

Abstract: A hybrid robust control algorithm is proposed based on a backstepping kinematic control and a sliding mode hybrid dynamics control with dual adaptive neural network for trajectory tracking control of nonholonomic mobile robot. The equivalent control of sliding mode control is computed and the gain of sliding mode control is adjusted by using dual radial basis function neural network control with adaptive adjust algorithm, which not only solves parameter and non-parameter uncertainties of mobile robot, but also eliminates input chattering in the sliding mode control. The stability and convergence of the control system are ensured by using the Lyapunov method. The simulation results show the validity of the controller in the presence of uncertainties, and the tracking errors of nonholonomic mobile robot are eliminated.

Key words: Dual adaptive neural sliding mode control, Hybrid control, Nonholonomic mobile robot, Trajectory tracking, Uncertainties