Adaptive Fuzzy Control of Uncertain Nonholonomic Mobile Robots

Abstract

To solve the problem of trajectory tracking for nonholonomic mobile robots with two drivable wheels, firstly, for the kinematic model, a kinematic controller was proposed;then, based on the dynamic model and kinematic controller, an adaptive fuzzy controller was proposed which could overcome the unknown parametric model uncertainties and disturbances.The system stability and the boundness of tracking errors were proved using Lyapunov stability theory.The simulation results validate its effectiveness.