Neurofuzzy / Sliding Mode controller for nonholonomic mobile robot

Abstract

In recent years, the industrial world has experienced a great technological advance in many production areas, which helped humans to find various ways for production optimizing and securing. One of these means was mobile robotics since it helps to increase production while ensuring the worker's safety. For this purpose, we will adopt a different control approach to improve the quality of the tracking controller by designing an algorithm that combines the methods of neurofuzzy [NF] and Sliding Mode [SM], thus getting the best performance of each. We first present the sliding mode controller to be used we then analyze the various results from various simulations performed and other comparisons to SM.