Adaptive fuzzy path following control for a nonholonomic mobile robots

Abstract

This paper addresses an adaptive fuzzy path following control scheme of a mobile robot with uncertainty of its center of mass. A fuzzy system is used to approximate the uncertainty function of the controller, the parameters in fuzzy system are adjusted by the tracking error. The approximation error can be efficiently counteracted by employing robust compensator. The proposed design scheme guarantees that all signals in the closed-loop system are bounded, and the tracking error converge to origin. A simulation example is used to demonstrate the effectiveness of the proposed scheme.