A Novel Fuzzy Trajectory Tracking Control Design for Wheeled Mobile Robot

摘要

A novel fuzzy based control design for the trajectory tracking of wheeled mobile robot (WMR) is presented in this paper. This approach can be applied to generate trajectory tracking control commands on WMR movement. The design objective is to specify one fuzzy control law that can force the WMR to track a predefined trajectory for the nonlinear trajectory tracking control of WMR. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory tracking problem, hence we try to treat this trajectory tracking problem from the so-called fuzzy control design concepts. Finally, one testing scenario: circular reference trajectory tracking is applied to performance verification.