Integration of Kinematical and Robust Dynamical Controllers with Adaptive Fuzzy Elimination Scheme for Wheeled Vehicles Tracking Control

Since disturbances and uncertainties have effects only on the dynamical model, the dynamical and kinematical controllers are separately designed. That is, a two-loop control is designed for implementing different suitable algorithms. Two kinematical controllers can be individually integrated with robust dynamic controllers by using adaptive fuzzy elimination scheme for uncertainties. For the proposed two distinct kinematical controllers, the same coupling matrix has been derived based on the two-loop control, so the flexibility of the two-loop control is a very important feature. Moreover, the most important feature is the effect of considering the coupling matrix between these two loops, so simulations with and without considering the coupled matrix are studied for comparison