Fuzzy logic & fuzzy sliding mode tracking control of non-holonomic unicycle wheeled mobile robots

摘要

This paper aims to compare solving the trajectory tracking problem of non-holonomic wheeled mobile robots (WMRs) using backstepping kinematic control and fuzzy logic, sliding mode and fuzzy sliding mode dynamic control methods. The fuzzy logic control is based on a backstepping approach and may be used to ensure asymptotic stability of robots position to the desired trajectory. Although this method has the advantage of not needing the details of WMR dynamic model, the weak performance of this method in the presence of exogenous signals and its strong dependence on the IF-THEN rules motivates its replacement with a fuzzy sliding mode dynamic controller to simultaneously obtain robust trajectory tracking results and a decrease in the chattering effect caused by SMDC. The superiority of FSMDC to SMDC and FLDC is illustrated in a simulation study.