Abstract This thesis is mainly to study of trajectory tracking controller design for wheel mobile robot (WMR).In this thesis, we will design a two-stage tracking controller for the mobile robot.

• 在本论文中，运用死区技巧来为类神经网路的演算法，加入强健性的功能，而主要的用途在于鑑别一个非线性的系统时，能对不必要的干扰或错误予以忽略。