Affiliations: Ms in Control Engineering, Sahand University of Technology, Sahand, Tabriz, Iran | Electrical Engineering Department, Sahand University of Technology, Sahand, Tabriz, Iran
Abstract: In this paper an adaptive robust fuzzy-based approach is proposed to dynamic controller design problem for wheeled mobile robot in the presence of uncertainties in dynamic model. Also, the kinematic controller is designed based on Lyapunov stability theory in the presence of uncertainties that depend on sliding velocity. In order to eliminate uncertainties in kinematic model, they are modeled as lumped disturbances which estimated by Disturbance Observer (DOB) based on Linear Matrix Inequality (LMI). Simulations are carried out on a wheeled mobile robot to verify the performance of the proposed control scheme.
Keywords: Mobile robot, adaptive fuzzy approach, Lyapunov stability theory, sliding velocity, disturbance observer (DOB), Linear Matrix Inequality (LMI)
