Adaptive fuzzy path following control for a nonholonomic mobile robots

This paper addresses an adaptive fuzzy path following control scheme of a mobile robot with uncertainty of its center of mass. A fuzzy system is used to approximate the uncertainty function of the controller, the parameters in fuzzy system are adjusted by the tracking error. The approximation error can be efficiently counteracted by employing robust compensator. The proposed design scheme guarantees that all signals in the closed-loop system are bounded, and the tracking error converge to origin. A simulation example is used to demonstrate the effectiveness of the proposed scheme.

[1]  Simon X. Yang,et al.  Tracking control of a mobile robot using a neural dynamics based approach , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[2]  Li-Xin Wang.  Stable adaptive fuzzy control of nonlinear systems , 1993, IEEE Trans. Fuzzy Syst..

[3]  Yanrong Hu,et al.  A fuzzy neural dynamics based tracking controller for a nonholonomic mobile robot , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[4]  Long Cheng,et al.  Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach , 2009, IEEE Transactions on Control Systems Technology.

[5]  Fumio Miyazaki,et al.  A stable tracking control method for an autonomous mobile robot , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[6]  Min Tan,et al.  Adaptive Control of a Class of Nonlinear Pure-Feedback Systems Using Fuzzy Backstepping Approach , 2008, IEEE Transactions on Fuzzy Systems.

[7]  Shaocheng Tong,et al.  Direct adaptive fuzzy output tracking control of nonlinear systems , 2002, Fuzzy Sets Syst..

[8]  Keun-Mo Koo,et al.  Stable adaptive fuzzy controller with time-varying dead-zone , 2001, Fuzzy Sets Syst..

[9]  Sun Duo.  Path following control of mobile robots with model uncertaintybased on hierarchical fuzzy systems , 2004 .

[10]  Salim Labiod,et al.  Adaptive fuzzy control of a class of MIMO nonlinear systems , 2005, Fuzzy Sets Syst..

[11]  Jun-Ho Oh,et al.  Tracking control of a two-wheeled mobile robot using inputoutput linearization , 1999 .

[12]  Indra Narayan Kar,et al.  Design and implementation of an adaptive fuzzy logic-based controller for wheeled mobile robots , 2006, IEEE Transactions on Control Systems Technology.

[13]  Guo Li-jin,et al.  Adaptive fuzzy control for a class of uncertain nonlinear systems , 2010 .

[14]  Hazem N. Nounou,et al.  Stable auto-tuning of adaptive fuzzy/neural controllers for nonlinear discrete-time systems , 2004, IEEE Transactions on Fuzzy Systems.