Chattering Reduction on the Control Input of a Nonholonomic Mobile Robot Using Fuzzy Logic Controller

This paper investigates the problem of reducing chattering in the control input for a mobile robot. It is well known that the fuzzy logic controller is an effective solution to reduce chattering for the mobile robot navigation. Compared to the original method which uses the sign function in the control input, the developed method reduces chattering and presents a simple algorithm for solving the obstacle avoidance problem in unknown dynamic environment. In fact, the developed algorithm instructs the mobile robot to keep moving smoothly to the designed target without collision. Simulation results show the efficiency of the proposed control law which reduces the chattering phenomenon and illustrate that the developed algorithm can be well applied in the mobile robot navigation.

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