Adaptive Fuzzy Control of a Four-Wheeled Mobile Robot Subject to Wheel Slip

Abstract

In this paper, the adaptive fuzzy tracking control of a four-wheeled mobile robot subject to wheels slip is considered. We proposed an adaptive scheme in that fuzzy logic approximators are used to approximate the unknown system functions in designing the adaptive tracking control of a mobile robot. Fuzzy systems are expressed as a series expansion of basis functions, to adaptively compensate for the mobile robot nonlinearities. The proposed control system works online, parameter adaptation is realized in every discrete step of the control process, and a preliminary learning phase of fuzzy system parameters is not required. The stability of the algorithm is established in the Lyapunov sense, with tracking errors converging to a neighborhood of zero. Simulation results illustrate the effectiveness of the approach.