Fuzzy observer design for mobile robot

In this paper, a fuzzy observer is presented for mobile robot. This observer is used to compensate the load disturbance that makes the position inaccuracy in a wheeled mobile robot. The load disturbances are estimated with fuzzy logic algorithm and state variables are estimated with simple feedback calculation. Adding the fuzzy observer in the system, the tracking accuracy of the robot is improved without any breakaway when it traces the reference trajectory. And experimental results show that a controller has better performance with fuzzy observer even though it has difference between the right wheel inertia and the left wheel inertia.