Trajectory tracking control of mobile robot based on interval type II fuzzy sliding mode

摘要

Aiming at the trajectory tracking problem of mobile robot with typical nonlinear characteristics, a method combining interval type-2 fuzzy control and sliding mode control is proposed to track its trajectory. By properly selecting the sliding surface and reaching law of sliding mode control, the system can quickly approach and converge to the equilibrium state in a certain time. The interval type II fuzzy control method is used to adjust the reaching law parameters in real time to deal with unknown interference, so that the system has good resistance to external interference. The stability is proved by Lyapunov function. Finally, the simulation results show that the proposed method can track the trajectory of mobile robot better and have better motion quality under the action of unknown interference.