Fuzzy Sliding Mode Control of a Non-Holonomic Wheeled Mobile Robot

摘要

Abstract — In this paper, perfect trajectory tracking of a non-holonomic Wheeled Mobile Robot (WMR) is developed. The Feedback Linearization (FL) methods may be used to make convergence of WMRs on desired position, and orientation trajectories. Due to the weak performances against exogenous signals, the FL controller is replaced by a Sliding Mode Controller (SMC). Using the SMC with a saturation term may not remove the high range chattering; therefore, a Mamdani-type Fuzzy Sliding Mode Controller (FSMC) is proposed to decrease the chattering effects. The superiority of the proposed pure and fuzzy SMCs to the recent FL method has been revealed through simulations. Index Terms—fuzzy, sliding mode controller, trajectory tracking, wheeled mobile robot W I.