Intelligent Control for a Perturbed Autonomous Wheeled Mobile Robot: a Type-2 Fuzzy Logic Approach

摘要

This paper focuses on the control of wheeled mobile robot subject to bounded disturbances. A tracking controller for the mobile robot was developed by considering its kinematic model and Euler-Lagrange dynamics. Type-2 fuzzy logic is proposed to synthesize the controller for the overall system via backstepping methodology which is claimed to be a robust tool for related applications. A systematic procedure to satisfy required time responses for stabilization of the kinematic model is made through genetic algorithm approach. Simulation results are presented confirming the performance of the tracking controller.