Adaptive Fuzzy Output Feedback Simultaneous Posture Stabilization and Tracking Control of Wheeled Mobile Robots With Kinematic and Dynamic Disturbances

摘要

This article proposes a simultaneous posture (i.e., position and heading direction angle) stabilization and tracking control for differential-drive wheeled mobile robots (WMRs) using an adaptive fuzzy output feedback tracking control (AFOFTC) method and a fuzzy basis function network (FBFN). Existing studies on simultaneous posture stabilization and tracking control of WMRs do not compensate for the uncertainties and disturbances caused by kinematics and dynamics (i.e., kinematic and dynamic disturbances). To inhibit the performance degradation caused by these disturbances, an FBFN-based adaptive fuzzy output feedback posture stabilization and tracking control of WMRs is proposed considering the unavailable velocities of the WMR. In this approach, i) kinematic error equations are derived in polar coordinates, ii) a nonlinear velocity observer for WMRs containing the kinematic and dynamic uncertainties is designed, iii) a backstepping-like feedback linearization controller is designed based on the kinematics in polar coordinates to generate a reference trajectory, and iv) an AFOFTC law is proposed based on the dynamics to ensure that the WMR follows the generated reference trajectory. The proposed method can maintain satisfactory posture stabilization and tracking control performance despite the kinematic and dynamic disturbances. A stability analysis as well as the simulation and experimental results are provided to validate the proposed scheme.