Adaptive fuzzy trajectory-tracking control of uncertain nonholonomic mobile robots’

Abstract

The trajectory-tracking problem of the nonholonomic mobile robots with two drivable wheels is solved by an adaptive fuzzy control strategy in this paper. A kinematic controller is firstly presented for the kinematic model, and then, an adaptive fuzzy controller is designed for the uncertain dynamic model with disturbance based on the kinematic controller. The stability of the closed-loop system and the boundness of tracking errors are proved using Lyapunov theory. The simulation results validate its more superior performance through comparisons.