Optimal design of type-2 and type-1 fuzzy tracking controllers for autonomous mobile robots under perturbed torques using a new chemical optimization paradigm

This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.