Practical implementation of an effective robust adaptive fuzzy variable structure tracking control for a wheeled mobile robot

Abstract

In this paper an adaptive fuzzy variable structure control integrated with a proportional plus derivative control is proposed as a robust solution to the trajectory tracking control problem for a differential wheeled mobile robot under effect of uncertainties and disturbances. To minimize the problems found in practical implementations of the classical variable structure controllers, a single-input single-output adaptive fuzzy logic system replaces the discontinuous portion of the controller. Stability analysis and the convergence of tracking errors considering the adaptive law are guaranteed with basis on the Lyapunov theory. Simulation and experimental results of the proposed control strategy are explored.