中文摘要：

由于非完整约束系统及其控制系统自身的复杂性，差动驱动非完整移动机器人的轨迹跟踪具有相当大控制难度，为此，提出一种基于前馈-反馈模糊逻辑控制算法的控制器。通过前馈控制解决轨迹跟踪的时间延迟问题，通过反馈模糊逻辑控制并解决系统建模的不确定性及外部环境干扰的影响。仿真结果表明，该控制器更加适合移动机器人的轨迹跟踪，其在轨迹跟踪精度和抗干扰能力上均明显优于标准反演控制器，移动机器人在不同方向上的轨迹跟踪误差均小于0.1。

英文摘要：

As the complexities of nonholonomic WMRs and their control system increase the difficulties of trajectory tracking control,a type of feed-forward and feedback fuzzy logic controllers was proposed.Feed-forward control was adopted to solve the time delay in trajectory tracking,and the feedback fuzzy logic control was used for resolving the model uncertainties and environ-mental disturbances.The obtained simulation results show that the developed controller is best suited for the tracking trajectory problems,the trajectory tracking precision and resisting disturbance capacity of the proposed controller are superior to the stan-dard backstepping controller,and all of the trajectory tracking errors in different directions are less than0.1.