Trajectory tracking control of wheeled mobile robots via fuzzy approach

The trajectory tracking control of wheeled mobile robots is considered. The kinematics and dynamics model of a wheeled mobile robot is derived by using the Lagrange´s equations. Since the values of parameters of the robot are difficult to determine accurately, the physical parameters of the robot were assumed to be unknown except the wheel radius and the distance between the two driving wheels. An integrated controller based on the dynamics model of the wheeled mobile robot with parameter uncertainty is proposed by using the approximation capacity of the fuzzy system. Simulation results show the effectiveness of the proposed method.