Tracking control of a nonholonomic mobile robot using a fuzzy-based approach

Authors:
An-Min Zou;Zeng-Guang Hou;Min Tan;Zeng-Shun Zhao
Affiliations:
Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, Beijing, China;Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, Beijing, China;Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, Beijing, China;Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, Beijing, China
Venue:
FSKD'06 Proceedings of the Third international conference on Fuzzy Systems and Knowledge Discovery
Year:
2006

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Abstract

This paper investigates the tracking problem of nonholonomic mobile robots. A control structure combining a kinematic controller and a dynamic controller based on nonlinear feedback control plus fuzzy compensator is presented. The fuzzy compensator, whose parameters are tuned on-line, is employed to approximate the total uncertainty including the structured and unstructured uncertainties due to the universal approximation property of fuzzy logic systems. The stability of the proposed approach is guaranteed by the Lyapunov theory. Simulation results show the efficiency of the proposed approach.