·1186· 工程科学学报.第41卷.第9期 troller for a mobile robot driven by Mecanum wheels.J Northicest of DC motor systems with the full state constraints.Neurocomput- Polytech Univ,2018,36(4):627 ing,2015,168:65 (王明明，朱莹莹，张磊，等。麦克纳姆轮驱动的移动机器人自 [18]Meng W C,Yang Q M,Sun Y X.Adaptive neural control of 适应滑模控制器设计.西北工业大学学报，2018,36(4)：27) nonlinear MIMO systems with time-varying output constraints. 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J Northwest Polytech Univ, 2018, 36(4): 627 (王明明, 朱莹莹, 张磊, 等. 麦克纳姆轮驱动的移动机器人自 适应滑模控制器设计. 西北工业大学学报, 2018, 36(4): 627) [11] Alakshendra V, Chiddarwar S S. Adaptive robust control of Mecanum鄄wheeled mobile robot with uncertainties. Nonlinear Dyn, 2017, 87(4): 2147 [12] Xu D, Zhao D B, Yi J Q, et al. Trajectory tracking control of omnidirectional wheeled mobile manipulators: robust neural net鄄 work鄄based sliding mode approach. IEEE Trans Syst Man Cybern Part B Cybern, 2009, 39(3): 788 [13] Kang S Z, Wu H T. Research on fuzzy adaptive sliding mode control of omni鄄directional mobile robot. Mach Des Manuf Eng, 2017, 46(3): 70 (康升征, 吴洪涛. 全向移动机器人模糊自适应滑模控制方 法研究. 机械设计与制造工程, 2017, 46(3): 70) [14] Tee K P, Ge S S, Tay E H. Barrier Lyapunov functions for the control of output鄄constrained nonlinear systems. Automatica, 2009, 45(4): 918 [15] Liu Y J, Li D J, Tong S C. Adaptive output feedback control for a class of nonlinear systems with full鄄state constraints. Int J Con鄄 trol, 2014, 87(2): 281 [16] Liu Y J, Tong S C. Barrier Lyapunov Functions鄄based adaptive control for a class of nonlinear pure鄄feedback systems with full state constraints. Automatica, 2016, 64: 70 [17] Bai R. Neural network control鄄based adaptive design for a class of DC motor systems with the full state constraints. Neurocomput鄄 ing, 2015, 168: 65 [18] Meng W C, Yang Q M, Sun Y X. Adaptive neural control of nonlinear MIMO systems with time鄄varying output constraints. IEEE Trans Neural Networks Learn Syst, 2015, 26(5): 1074 [19] Ding L, Li S, Liu Y J, et al. Adaptive neural network鄄based tracking control for full鄄state constrained wheeled mobile robotic system. IEEE Trans Syst Man Cybern Syst, 2017, 47(8): 2410 [20] Wang C X, Wu Y Q. Finite鄄time tracking control for strict鄄feed鄄 back nonlinear systems with full state constraints. Int J Control, 2017, 46(7):1 [21] Chen X H, Jia Y M, Matsuno F. Tracking control for differenti鄄 al鄄drive mobile robots with diamond鄄shaped input constraints. IEEE Trans Control Syst Technol, 2014, 22(5): 1999 [22] Liu C X, Gao J, Xu D M. Lyapunov鄄based model predictive con鄄 trol for tracking of nonholonomic mobile robots under input con鄄 straints. Int J Control Autom Syst, 2017, 15(5): 2313 [23] Chen M, Ge S S, Ren B B. Adaptive tracking control of uncer鄄 tain MIMO nonlinear systems with input constraints. Automatica, 2011, 47(3): 452 [24] Wen C Y, Zhou J, Liu Z T, et al. Robust adaptive control of un鄄 certain nonlinear systems in the presence of input saturation and external disturbance. IEEE Trans Autom Control, 2011, 56(7): 1672 [25] Khalil H K. Nonlinear Systems. 3rd Ed. London: Prentice Hall Inc, 2002 ·1186·