A fuzzy logic based motion control for nonholonomic mobile manipulator robots

Abstract

This paper presents a motion control strategy using a fuzzy knowledge based system to tracking control a wheeled mobile manipulator robot. Also the robot modeling is considered in this paper. The proposed control has been designed to track the desired trajectory in the presence of uncertainties. The control scheme consists of four parts; a model-based kinematic control, a fuzzy logic based dynamic control, a decentralized PI control and an adaptive linear control. An advantage of the proposed scheme is simplicity in designing. The stability of control system for asymptotic convergence to the desired trajectory is proven using Lyapunov synthesis. The numerical simulation results show the superiority of the proposed control over a robust adaptive control.