The invention discloses a tracking control method and
system for a wheel type mobile mechanical arm. The tracking control method comprises the steps of 1, giving initial value information and inputting predefined target trajectory information; 2, solving an
inverse kinematics problem based on a first zeroed neural network according to the initial value information, the predefined target trajectory information and actual information to obtain a driving
signal; 3, controlling the movement of the wheel type mobile mechanical arm according to the driving
signal and feeding back actual information; and 4, estimating a jacobian matrix based on a second zeroed neural network and the actual information, and returning to the step 2 to recalculate a driving
signal. The tracking
control system comprises an initialization module, a driving signal module, a control module and a jacobian matrix module. According to the tracking control method and
system for the wheel type mobile mechanical arm, the tracking control of a
robot can be realized without knowing the
model parameters of the wheel type mobile operation mechanical arm; and the tracking control method and
system for the wheel type mobile mechanical arm can be widely applied to the field of mechanical arm control.