Practical implementation of an effective robust adaptive fuzzy variable structure tracking control for a wheeled mobile robot

Article type: Research Article

Authors: Begnini, Mauricio^a | Bertol, Douglas Wildgrube^b | Martins, Nardênio Almeida^{a; c; *}

Affiliations: [a] State University of Maringá, Department of Informatics, Postgraduate Program in Computer Science, Maringá, PR, Brazil | [b] State University of Santa Catarina, Department of Electrical Engineering, Group of Systems Automation and Robotics, Joinville, SC, Brazil | [c] Federal University of Santa Catarina, Department of Automation and Systems, Robotics Research Group, Florianópolis, SC, Brazil

Correspondence: [*] Corresponding author. Nardênio Almeida Martins. E-mails: namartin@din.uem.br and nardenio@das.ufsc.br.

Abstract: In this paper an adaptive fuzzy variable structure control integrated with a proportional plus derivative control is proposed as a robust solution to the trajectory tracking control problem for a differential wheeled mobile robot under effect of uncertainties and disturbances. To minimize the problems found in practical implementations of the classical variable structure controllers, a single-input single-output adaptive fuzzy logic system replaces the discontinuous portion of the controller. Stability analysis and the convergence of tracking errors considering the adaptive law are guaranteed with basis on the Lyapunov theory. Simulation and experimental results of the proposed control strategy are explored.

Keywords: Differential wheeled mobile robot, trajectory tracking, adaptive fuzzy variable structure control, uncertainties and disturbances, Lyapunov theory

DOI: 10.3233/JIFS-17699

Journal: Journal of Intelligent & Fuzzy Systems, vol. 35, no. 1, pp. 1087-1101, 2018