Abstract
In this paper, an adaptive neural network (NN) -based tracking control algorithm is proposed for the partial uncertain state time-delayed wheeled mobile robotic (WMR) system with. By using the backstepping method, and the appropriate Lyapunov-Krasovskii functionals, a suitable adaptive controllers is designed for the WMR system such that 1) eliminate the influence of partial uncertain time delay on system stability; 2) ensure all signals in WMR system to be bounded; 3) guarantee the robot can track the desired trajectory with the error convergence to a compact set by zero. The numerical simulation results verify the performance of the proposed control algorithm. Keywords-Adaptive control, neural network, partial time delay, wheeled mobile robot, Lyapunov function.
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