Time-varying fuzzy logic controller of skid-steering mobile robot based on Lyapunov stability

Abstract

A kinematic model of a skid-steering mobile robot (SSMR) is analyzed. The influence of relative position between the instantaneous center of rotation and SSMR center of mass is considered in the analysis. Then, a time-varying fuzzy logic controller based on Lyapunov stability criterion is designed. The closed loop system is simulated using Matlab-Simulink on point stabilization from different initial conditions. Results show that the proposed controller reaches almost zero steady state error with smooth trajectory.