Trajectory Tracking of a Nonholonomic Wheeleed Mobile Robot Using Hybrid Controller

摘要

This paper address a novel method for nonholonomic Wheeled Mobile Robot (NWMR) trajectory tracking using a hybrid controller. In the essential of the proposed scheme, hybrid algorithm includes fuzzy logic based Regulation, Pole-Placement and Tracking (F-RST). The hybrid controller easily track the reference trajectory and linearize the nonlinear behavior of robot under the influence of uncertainty and disturbance. To ensure the efficiency of suggested controller the performance of hybrid controller is compared with the classical RST and Back-stepping controller. Simulation results shows that the control strategy is effectively work over nonlinear simulations of kinematic and dynamic model of WMR and system response shows a good convergence and robustness towards stability with zero steady-state error and very less transient error.