Dynamic control of mobile robots based on an adaptive fuzzy sliding mode

Abstract

A hybrid control algorithm was proposed based on an adaptive shunting kinematic control and an adaptive fuzzy sliding mode dynamic control for the trajectory tracking control of nonholonomic mobile robots.The proposed adaptive shunting kinematic control method solves the speed jump caused by the large error of initial pose.Parameters and non-parameter uncertainties of a mobile robot can be solved by using a robust control which takes advantage of stability and robustness in a sliding mode control.The gain of a sliding mode control was adjusted by using the fuzzy control with an adaptive tuning algorithm,which enhanced the adaptability for random uncertainty and eliminated the input chattering of the sliding mode control.The stability and convergence of the control system were proven by using the Lyapunov method.The simulation results demonstrate that the controller has a smooth velocity output,and the tracking errors of a nonholonomic mobile robot are eliminated.