中文摘要：

Peng Yizhun, born in 1974. He received his Ph. D degree in Institute of Automation Chinese Academy of Sciences in 2006. He also received his B.S. and M.S. degrees from Nankai University in 1997 and 2002 respectively. His research interests include intelligent control and wheeled mobile robot. To whom correspondence should be addressed. E-mail： kui. yuan@ia.ac.cn